• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    System (1) for securing an aerostat (2) to a receiving structure (3), comprising an airborne drone (10) controllable to move between said aerostat (2) and said receiving structure (3) carrying a first end (13) ) of a cable (11) whose second end is fixed to the aerostat (2) or the receiving structure (3) and for fixing this first end (13) to the receiving structure (3) or to the aerostat (2), so that this cable (11) connects the aerostat (2) to the receiving structure (3). See Figure 1. Use for easy docking of airships to receiving masts or cradles.
    公开号:FR3059643A1
    申请号:FR1661810
    申请日:2016-12-01
    公开日:2018-06-08
    发明作者:Sebastien Bougon
    申请人:Flying Whales；
    IPC主号:
    专利说明:

    (54) SYSTEM AND METHOD FOR SECURING AN AEROSTAT, AND AEROSTAT AND RECEIVING STRUCTURES THEREOF.
    ©) System (1) for securing an aerostat (2) to a receiving structure (3), comprising an aerial drone (10) controllable to move between this aerostat (2) and this receiving structure (3) by carrying a first end (13) of a cable (11) the second end of which is fixed to the aerostat (2) or to the receiving structure (3) and for fixing this first end (13) to the receiving structure (3) or to the aerostat (2), so that this cable (11) connects the aerostat (2) to the receiving structure (3).
    See Figure 1.
    Use for easy stowage of airships to receiving masts or cradles.
    -1 "System and method for securing an aerostat, and aerostat and receiving structures thus equipped"
    Technical area
    The present invention relates to a system for securing an aerostat to a mobile or fixed receiving structure. It also relates to a stowage process implemented in this system, as well as an aerostat equipped with this system and an adapted receiving structure.
    The field of the invention is more particularly, but not limited to, that of airships.
    State of the art
    Securing large airship aerostats to parking masts has always been a delicate maneuver that required the intervention of a large number of people on the ground, sometimes more than a hundred, and which proved to be long and risks both for the crews of these aerostats and for people on the ground.
    Furthermore, the piloting of these airships when approaching receptor structures on the ground is generally complex due to aerodynamic conditions which are sometimes unfavorable for approaching the ground and the high intrinsic inertia of these aircraft.
    The object of the present invention is to remedy these drawbacks by proposing a lashing system which can facilitate the approach of an aerostat to a receiving structure and allows it to be lashed more easily and more reliably than under current conditions.
    Statement of the invention
    This objective is achieved with a system for securing an aerostat to a receiving structure, characterized in that it comprises at least one controllable aerial drone for moving between the aerostat and the receiving structure by carrying a first end of a cable d lashing whose second end is fixed to the aerostat or the receiving structure and to fix this first end to the receiving structure or the aerostat, so that this cable connects the aerostat to the receiving structure.
    Thus, by creating a mechanical cable connection between the aerostat and the receiving structure by means of an aerial drone, it becomes much easier to bring the nose of the aerostat closer to the receiving structure, even in conditions of climatic disturbance. .
    The securing system according to the invention can also advantageously include means for winding the cable connecting the aerostat to the receiving structure, so as to bring the aerostat closer to the receiving structure.
    In a particular version of a lashing system according to the invention, the winding means comprise a winding device housed within the aerostat.
    In another version, the winding means comprise a winding device housed at the level of the receiving structure.
    The winding device can advantageously comprise a motorized winch having a substantially vertical axis of rotation, disposed at the top of the receiving structure. This motorized winch comprises for example a drum provided with a slot intended to receive the end of the lashing cable.
    The lashing system according to the invention is preferably arranged to release the aerial drone after fixing the first end of the cable to the receiving structure or to the aerostat.
    In a particular embodiment of a lashing system according to the invention, the aerial drone is arranged to be accommodable within the aerostat, this aerial drone being controllable to (i) take a first end to the receiving structure of the securing cable, the second end of which is fixed to the aerostat and (ii) the first end of which is fixed to the receiving structure.
    In another embodiment of a lashing system according to the invention, the aerial drone is arranged to start from the receiving structure, this aerial drone being controllable for (i) carrying a first end of the cable to the aerostat. lashing whose second end is fixed to the receiving structure and (ii) fixing the first end to the aerostat.
    In a particular version of the invention, the lashing cable comprises a plurality of consecutive sections of successively increasing diameters, a first of these sections having the smallest diameter and being terminated by the first end intended to be carried by the drone air.
    In another version of the invention, the winding device housed in the receiving structure is coupled to a mechanical connection system comprising a first mechanical connector disposed at the nose of the aerostat and a second mechanical connector disposed at the top of the structure receiver, these first and second mechanical connectors being provided to be mechanically coupled at the end of a winding sequence of the lashing cable.
    According to another aspect of the invention, a method is proposed for securing an aerostat to a receiving structure, implemented in a lashing system according to the invention, comprising the steps of:
    -3 control of at least one aerial drone carrying a first end of a lashing cable, the second end of which is fixed to the aerostat or to the receiving structure, according to a trajectory leading it to the receiving structure or the aerostat , and fixing the first end of the lashing cable to a part of the receiving structure or of the aerostat.
    The lashing method according to the invention may further comprise a step of winding the lashing cable after fixing its first end to the receiving structure or to the aerostat, until part of the aerostat substantially joins part of the receiving structure.
    When the method according to the invention is implemented in a lashing system according to the invention associated with a mechanical coupling system, the step of winding the lashing cable is carried out until a coupling of the first and second mechanical connectors equipping the aerostat and the receiving structure respectively.
    The lashing method according to the invention can advantageously comprise a step for releasing the aerial drone while maintaining the attachment of the first end of the cable to the receiving structure.
    The successive steps of the stowage method according to the invention can be at least partly controlled from the aerostat and / or from the ground.
    The aerial drone can be programmed to reach the receiving structure from the aerostat or the aerostat from the receiving structure in autonomous mode.
    According to yet another aspect of the invention, there is provided an aerostat equipped with a lashing system according to the invention, as well as a receiving structure adapted to receive this lashing system.
    Description of the figures and embodiments
    Other advantages and particularities of the invention will appear on reading the detailed description of implementations and embodiments in no way limiting, and the following appended drawings:
    - Figure 1 schematically illustrates a first example of implementation of a lashing system according to the invention;
    - Figure 2 is a top view of the lashing system according to the invention illustrated in Figure 1, at a stage when the aerial drone moves away after ensuring the connection of the cable to the receiving structure;
    FIG. 3 schematically illustrates a particular configuration of a lashing system according to the invention an integral part of a system for mechanically coupling an aerostat to a receiving structure;
    - Figure 4 illustrates another version of a lashing system according to the invention, in which the receiving structure is simply provided with a hooking device;
    - Figure 5 illustrates the approach of an aerial drone carrying a lashing cable to a receiving structure of the lashing system illustrated in Figure 4;
    - Figure 6 schematically illustrates the connection of a lashing cable to the receiving structure and the distance of the aerial drone, in the configuration of the lashing system illustrated in Figure 4;
    - Figure 7 is a top view illustrating the mechanical connection of the nose of an aerostat according to the invention to a receiving structure, in the configuration of the lashing system illustrated in Figure 4;
    - Figure 8 schematically illustrates a stowage system according to the invention implementing a plurality of aerial drones;
    - Figure 9 schematically illustrates another embodiment of a lashing system according to the invention, in which the aerial drone is housed within the receiving structure and the nose of the aerostat is provided with a hanging device;
    - Figure 10 illustrates a step of fixing the lashing cable to the aerostat and the departure of the aerial drone, in the lashing system configuration shown in Figure 9; and
    - Figure 11 illustrates the mechanical connection of the aerostat to the receiving structure, made by means of a lashing system as shown in Figures 9 and 10.
    These embodiments being in no way limitative, it will be possible in particular to consider variants of the invention comprising only a selection of characteristics described or illustrated subsequently isolated from the other characteristics described or illustrated (even if this selection is isolated within a sentence including these other characteristics), if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art. This selection comprises at least one characteristic, preferably functional, without structural details, and / or with only part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention from the state of the art. anterior.
    We will first describe, with reference to FIGS. 1 and 2, a first embodiment of a lashing system 1 according to the invention, at the same time as the method implemented in this system.
    -5 The lashing system 1 comprises an overhead drone 10 controlled to carry a lashing cable 11 unwinding from a drum 21 disposed at the front of an aerostat 2 equipped with propulsion groups 22, 23, towards a receiving structure 3.
    This receiving structure 3 comprises a base 35, possibly self-propelled, bearing on a ground or a track 4, and a pylon 32 at the top of which is disposed a winch comprising a winding drum 31 whose vertical axis is driven by a motor 34. The drum 31 is provided with a slot 33 arranged to receive the end 13 of the lashing cable.
    The aerial drone 10 is for example of the four-engine type with four propellers 101, 102, 103, 104 and comprises a central device 100 for locking / unlocking of a lashing cable.
    When the aerostat 2 is approaching the receiving structure 3, the pilot initiates a lashing procedure with the takeoff of the aerial drone 10 from the aerostat by carrying the end 13 of the lashing cable 11 locked in the central device 100 of the drone 10. The winding drum 21 is controlled in freewheel mode in order to release the unwinding cable and allow the drone 10 to pull this cable while limiting the tensile forces. The drone 10 follows an optimized trajectory in the direction of the drum 31 at the top of the receiving structure 3 and is controlled so as to insert the end 13 into the receiving slot 33 of the drum 31. When this insertion is carried out, the drone 10 then releases the lashing cable 11.
    The drum 31 is then driven by the motor 34 to wind the cable 11, the second end of which is now kept fixed relative to the aerostat 2, either by immobilizing the drum 21 housed in the aerostat 2, or because the cable 2 is completely unrolled from this drum 21. As illustrated in FIG. 2, the drone 10 can then leave the stowage zone and reach for example a recharging site or else the aerostat 2.
    The winding drum 31 located on the receiving structure 3 is driven until the nose of the aerostat 2 is in the immediate vicinity of the receiving zone 3. With reference to FIG. 2, the lashing cable 11 may include several sections of distinct diameters, for example a first section 11.1 of a first diameter, a second section 11.2 of a second diameter greater than the first and then a third section 11.3 of a third diameter greater than the second. The first section 11.1 of smaller diameter is the one whose end 13 is carried by the drone 10. This has the effect of limiting the weight load imposed on the drone 10 in the first part of its trajectory towards the receiving structure 3. It is thus possible design a cable by distributing the respective lengths of the cable sections so as to allow the cable mass supported by the drone to be minimized.
    The lashing system according to the invention can also be associated with a mechanical coupling system of the aerostat to the receiving structure, as illustrated in FIG. 3.
    -6 can design a receiving structure 39 immobilized on the ground 4 and comprising on the upper part of its mast 32 a unit 38 movable in rotation by means of a rolling mechanism 36. This movable unit 38 includes a female mechanical connector 41 arranged for receive a male mechanical connector 40 secured to the nose of the aerostat 2, as well as a winding device 31 ′ driven by a motor 37.
    When the drone 10, as described with reference to FIGS. 1 and 2, has successfully inserted the end 13 of the securing cable 11 into the slot 33 'of the drum 31' then released the cable 11 and has moved away of the receiving structure, the drum 31 'is then driven so as to wind the cable 11 and therefore to pull the aerostat 2 until it approaches the moving element 38 and the male mechanical connector 40 penetrates in the female mechanical connector 41, thus ensuring mechanical coupling of the aerostat 2 to the receiving structure 39.
    We will now describe, with reference to FIGS. 4 to 7, another embodiment of a lashing system 110 according to the invention, at the same time as the lashing method implemented in this system.
    The lashing system 110 is designed to tie down an aerostat 200 to a receiving structure 300 such as a lashing mast, with reference to FIG. 1. This receiving structure 300 comprises a curved part 130 provided with a hooking device 310, for example a hook-shaped piece, designed to receive a looped end 120 of a lashing cable 11, and it is generally movable on a plane 4. It can for example be placed on the platform of a truck or have an engine unit.
    The securing system 110 comprises an aerial drone 10, for example of the quadrotor type, carrying a free end forming a loop 120 of the securing cable 11, the other end of which is wound on a winch drum 210 embedded in the aerostat 200 and driven by a motor 222. The drone 10 is designed to be housed within the aerostat 200 in a housing 220 which can be closed by a hatch or equivalent device (not shown).
    When the aerostat 200 is near the receiving structure 300 by the control of vectorized thrusters 122, 123 - only two of which are represented in FIG. 4 which are arranged on either side of the main body of the aerostat 200, the cockpit of this aerostat controls the flight of the aerial drone 10 which then leaves its housing 220 and carries the first end 120 of the securing cable 11. The trajectory of this aerial drone 10 is controlled towards the target formed by the hanging device 310 arranged on the upper part of the receiving structure 300. It is also possible to provide that the aerial drone 10 operates in autonomous mode to carry out the trajectory between the aerostat 200 and the hanging device 310 of the receiving structure 300.
    The aerial drone 10 represented in FIGS. 5 and 6 comprises four rotors 101-104 and a device 100 for controlled locking of the end 120 of the lashing cable 11. When the
    -7 aerial drone 10 is controlled in its approach path, the winch 210 is placed in the freewheel position so that the cable can unroll without resistance so as not to slow the movement of the drone 10.
    When the drone 10 has reached its target, it is then commanded to insert the loop acting as an end 120 into the attachment device 310. The insertion operation being carried out, the aerial drone 10 is then commanded to unlock the device 100 and thus release the lashing cable 11. The aerial drone 10 can then leave the lashing zone, as illustrated in FIG. 6, and reach either the dedicated housing 220 for electrically recharged, or a zone of ground reception dedicated to this drone. The winch drum drive motor 222 is then controlled to wind the cable 11 so as to bring the aerostat 200 closer to the receiving structure 300 until the nose 224 of the aerostat 200 is substantially in contact with the curved part 130 of the receiving structure 300, as illustrated in FIG. 7.
    With reference to FIG. 8, the receiving structure 3 ', designed to receive an aerostat 2', can have a configuration of the cradle type on a motorized chassis which can move and be immobilized on a floor 4. The aerostat 2 ', provided of vectorized thrusters 22 ′, 23 ′, is equipped with a lashing system 1 ′ comprising several aerial drones 10.1, 10.2, 10.3 designed to be placed in housings 20.1, 20.2, 20.3 and to join hanging devices 31.1 , 31.2, 31.3 positioned on an upper part of the receiving structure 3 '.
    It is also possible to provide, with reference to FIGS. 9 to 11, another configuration in which the lashing system 1 ”comprises at least one aerial drone 16 attached to a motorized receiving structure 6 arranged on a ground or a track 4 and arranged for take a lashing cable 111 to a 2 ”aerostat when approaching the receiving structure 6 provided with a curved device 60 designed to receive the nose of the 2” aerostat. This receiving structure can be provided with a housing (not shown) for accommodating the aerial drone 16 and with a motorized winch 61 controlling the unwinding or winding of the lashing cable 110.
    When the aerial drone 16 has reached the nose of the aerostat 2 ”which is provided with a hooking device 25 shown diagrammatically in FIG. 9 and while the motorized winch 61 is controlled to let the cable 111 run, it is then controlled to insert the end loop 112 of the lashing cable 111 into the latching device 25, then to unlock the cable 111 and leave the lashing zone, as illustrated in FIG. 10. The aerial drone 16 can then return to its base within or at the receiving structure 6 or be ordered to join a dedicated reception area to be electrically recharged.
    After fixing the lashing cable 111 to the attachment device 25 of the 2 "aerostat, the motorized winch 61 is then controlled to wind the cable 111 and in this way bring the 2" aerostat closer to the receiving structure 6 which is kept immobilized relative to the ground 4 or
    - 8 may be ordered in motion to facilitate coupling of the 2 ”aerostat to the receiving structure. The cable winding control 111 is stopped when the nose of the 2 "aerostat comes into substantial contact with the curved receiving device 60, as illustrated in FIG. 11.
    Of course, we could combine all or part of the securing systems described above with reference to the aforementioned figures.
    Of course, the different characteristics, forms, variants and embodiments of the invention can be associated with each other in various combinations as long as they are not incompatible or mutually exclusive of each other. In particular, all the variants and embodiments described above can be combined with one another.
    权利要求:
    Claims (19)
    [1]
    1. System (1, 110, T, 1 ”) for securing an aerostat (2, 200, 2 ', 2”) to a receiving structure (3, 300, 3', 6), characterized in that it comprises at least one aerial drone (10; 10.1, 10.2, 10.3; 16) controllable to move between said aerostat (2, 200, 2 ', 2 ”) and said receiving structure (3, 300, 39, 3', 6) by carrying a first end (12) of a lashing cable (11, 111) whose second end is fixed to said aerostat (2, 200, 2 ', 2 ”) or to said receiving structure (3, 300, 39 , 3 ', 6) and to fix said first end (12) to said receiving structure (3, 300, 39, 3', 6) or to said aerostat (2, 200, 2 ', 2 ”), so that this cable (11, 111) connects said aerostat (2, 200, 2 ', 2 ”) to said receiving structure (3, 300, 39, 3', 6).
    [2]
    2. Lashing system (1, 110, T, 1 ”) according to claim 1, characterized in that it further comprises means (20, 21; 31, 61) for winding said cable (11, 111) connecting the aerostat (2, 200, 2 ', 2 ”) to the receiving structure (3, 300, 39, 3', 6), so as to bring said aerostat (2, 2 ', 2”) closer to said structure receptor (3, 300, 39, 3 ', 6).
    [3]
    3. Lashing system (1, 110, T) according to claim 2, characterized in that the winding means comprise a winding device (21, 210) housed within the aerostat (2, 200, 2 ').
    [4]
    4. Securing system (1, 110, 1 ”) according to one of the preceding claims, characterized in that the winding means comprise a winding device (31, 61) housed at the level of the receiving structure ( 3, 39, 6).
    [5]
    5. Lashing system (1) according to claim 4, characterized in that the winding device (31) comprises a motorized winch having a substantially vertical axis of rotation, disposed at the top of the receiving structure (3.39) .
    [6]
    6. Securing system (1) according to claim 5, characterized in that the motorized winch comprises a drum (31) provided with a slot (33) provided for receiving the end of the securing cable (11).
    [7]
    7. Lashing system (1, 110, T, 1 ”) according to any one of the preceding claims, characterized in that it is arranged to release the aerial drone (10; 10.1, 10.2, 10.3; 16) after fixing the first end (12, 13, 120) of the cable (11, 111) to the receiving structure (3.39, 6) or to the aerostat (2, 200, 2 ', 2 ”).
    -108. Lashing system (1, 1 ') according to any one of the preceding claims, in which the aerial drone (10; 10.1, 10.2, 10.3) is arranged to be accommodatable within the aerostat (2, 200, 2 '), this aerial drone being controllable for (i) carrying towards said receiving structure (3, 39, 300, 3') a first end (12, 13) of the securing cable (11) whose second end is fixed to said aerostat (2, 200, 2 ') and (ii) fixing said first end (12, 13) to said receiving structure (3, 39, 300, 3').
    [8]
    9. Lashing system (1 ”) according to any one of claims 1 to 7, in which the aerial drone (16) is arranged to start from the receiving structure (6), this aerial drone (16) being controllable for (i) take to the aerostat (2 ”) a first end (112) of the lashing cable (110) whose second end is fixed to said receiving structure (6) and (ii) fix said first end (112) aerostat audit (2 ”).
    [9]
    10. Securing system (1) according to any one of the preceding claims, characterized in that the securing cable (11) comprises a plurality of consecutive sections (11.1, 11.2, 11.3) of successively increasing diameters, a first (11.1) of said sections having the smallest diameter and being terminated by the first end (13) intended to be carried by the aerial drone (10).
    [10]
    11. Securing system according to any one of the preceding claims and claim 4, characterized in that the winding device (31) housed in the receiving structure (3) is coupled to a system (40, 41) of mechanical connection comprising a first mechanical connector (40) disposed at the nose of the aerostat (2) and a second mechanical connector (41) disposed at the top of the receiving structure (39), said first and second mechanical connectors (40, 41) being designed to be mechanically coupled at the end of a sequence of winding of the lashing cable (11).
    [11]
    12. Method for securing an aerostat (2, 200, 2 ', 2 ”) to a receiving structure (3, 300, 39, 3', 6), implemented in a lashing system (1, 110, 1 ', 1 ”) according to any one of the preceding claims, comprising the steps of:
    order at least one aerial drone (10; 10.1, 10.2, 10.3; 16) carrying a first end (12,
    [12]
    13, 112) of a lashing cable (11, 110), the second end of which is fixed to said aerostat (2, 200, 2 ', 2 ”) or to said receiving structure (3, 300, 39, 3', 6), along a trajectory leading to said receiving structure (3, 300, 3 ', 6) or said aerostat (2, 200, 2', 2 ”), and fixing of said first end (12, 13, 112) from said lashing cable (11, 110) to part of said receiving structure (3, 300, 39, 3 ', 6) or from said aerostat (2, 200, 2', 2 ”).
    - It 13. A securing method according to claim 12, characterized in that it further comprises a step of winding the securing cable (11, 111) after fixing its first end (12, 13, 112) to the receiving structure (3, 300, 39, 3 ', 6) or to the aerostat (2, 200, 2', 2 ”), until part of said aerostat (2, 200, 2 ' , 2 ”) substantially joins part of said receiving structure (3, 300, 39, 3 ', 3”).
    [13]
    14. Method according to claim 13, implemented in a lashing system according to claim 11, characterized in that the step of winding the lashing cable (11) is carried out until a coupling of the first and second mechanical connectors (40, 41).
    [14]
    15. Securing method according to any one of claims 12 to 14, characterized in that it further comprises a step for releasing the aerial drone (10; 10.1, 10.2, 10.3; 16) while maintaining the fixation of the first end (12, 112) of the cable (11, 110) to the receiving structure (3, 3 ', 6).
    [15]
    16. Lashing method according to any one of claims 12 to 15, characterized in that the successive steps are at least partly controlled from the aerostat (2, 200, 2 ’, 2”).
    [16]
    17. A stowage method according to any one of claims 12 to 16, characterized in that the successive stages are at least partly controlled from the ground.
    [17]
    18. A securing method according to any one of claims 12 to 17, characterized in that the aerial drone (10; 10.1, 10.2, 10.3; 16) is programmed to join the receiving structure (3, 300, in autonomous mode). 39, 3 ', 6) from the aerostat (2, 200, 2', 2 ”) or the aerostat (2, 200, 2 ', 2”) from the receiving structure (3, 300, 39, 3' , 6).
    [18]
    19. Aerostat (2, 200, 2 ’, 2”) equipped with a lashing system (1, 110, 1 ’, 1”) according to any one of claims 1 to 11.
    [19]
    20. Structure (3, 300, 3 ', 6) designed to receive an aerostat (2, 200, 2', 2 ”), equipped with a lashing system (1, 110, 1 ', 1”) according to any one of claims 1 to 11.
    ι ι
    3/3
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    FR3090585A1|2018-12-21|2020-06-26|Flying Whales|"Improved stowage system and method of an aerostat on a receiving structure"|
    FR3106815A1|2020-01-31|2021-08-06|Flying Whales|"Device for controlling the ground clearance of an airship and docking station for an airship incorporating such a device"|
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    法律状态:
    2017-12-21| PLFP| Fee payment|Year of fee payment: 2 |
    2018-06-08| PLSC| Publication of the preliminary search report|Effective date: 20180608 |
    2019-12-20| PLFP| Fee payment|Year of fee payment: 4 |
    2020-12-23| PLFP| Fee payment|Year of fee payment: 5 |
    2021-12-22| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1661810A|FR3059643B1|2016-12-01|2016-12-01|SYSTEM AND METHOD FOR BONDING AEROSTAT, AND AEROSTAT AND RECEPTOR STRUCTURES THUS EQUIPPED|
    FR1661810|2016-12-01|FR1661810A| FR3059643B1|2016-12-01|2016-12-01|SYSTEM AND METHOD FOR BONDING AEROSTAT, AND AEROSTAT AND RECEPTOR STRUCTURES THUS EQUIPPED|
    US16/465,055| US20190283901A1|2016-12-01|2017-11-27|System and method for docking an aerostat, and aerostat and receiving structures equipped for such a purpose|
    EP17816525.4A| EP3548383A1|2016-12-01|2017-11-27|System and method for docking an aerostat, and aerostat and receiving structures equipped for such a purpose|
    CA3044588A| CA3044588A1|2016-12-01|2017-11-27|System and method for docking an aerostat, and aerostat and receiving structures equipped for such a purpose|
    CN201780074465.3A| CN110167841A|2016-12-01|2017-11-27|System and method for docking aerostatics, and the aerostatics and reception structure that are equipped with for this purpose|
    RU2019120014A| RU2747808C2|2016-12-01|2017-11-27|System and a method for mooring an aerostat, an aerostat and receiving structures equipped to solve such a problem|
    PCT/EP2017/080555| WO2018099870A1|2016-12-01|2017-11-27|System and method for docking an aerostat, and aerostat and receiving structures equipped for such a purpose|
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