Balloon distribution system and distribution method

Abstract

The invention relates to the technical field of high-altitude balloon issuing, and provides a balloon issuing system and method, and the balloon issuing system comprises a balloon, a cable, a pod, a roller device, a restraining device and a pod releasing device which are connected in sequence. The roller device is pressed on the balloon and divides the balloon into a first part and a second part which are communicated with each other from one end far away from the cable to one end connected with the cable. The restraining device is connected with the cable and used for fixing or releasing the cable. The pod releasing device is used for fixing or releasing the pod. The drum device and the pod release device are each configured to be rotatable about a vertical axis passing through the restraint device. According to the balloon releasing system, in the inflation process, the roller device and the pod releasing device can rotate relative to the restraining device so that the roller device, the restraining device and the pod releasing device can be sequentially arranged in the downwind direction before the balloon is released, and it is avoided that the balloon is pulled and damaged after being released.

Description

Technical Field

[0001] The invention relates to the technical field of high-altitude balloon launching, and in particular to a balloon launching system and a launching method. Background Art

[0002] High-altitude balloons are a commonly used unpowered aerostat that can carry various types of loads to 20-50km for testing. They have the characteristics of large load capacity and high flight altitude, and have always been an irreplaceable high-altitude test platform. The membrane of a high-altitude balloon is an ultra-thin material with a thickness of microns, which is easily damaged during the inflation and release process. Usually, it is necessary to select a window with very low wind speed for inflation and release operations.

[0003] In some usage scenarios, due to the large size of the balloon, the gondola carried by the balloon, and the cable between the two, the balloon and the gondola need to be placed separately on two release devices that are far apart when launched. During the release process, once the wind speed and wind direction change, the positions of the two release devices are difficult to adjust, which can easily cause damage to the balloon and lead to test failure. Summary of the invention

[0004] The present invention provides a balloon dispensing system and method, which are used to solve the defect in the prior art that after the wind speed and wind direction change during the dispensing process, the position of the dispensing device is difficult to adjust, which easily causes the balloon to be damaged and leads to test failure.

[0005] In a first aspect, the present invention provides a balloon release system, comprising a balloon, a cable and a pod connected in sequence, and further comprising: A roller device is pressed on the balloon and divides the balloon from an end away from the cable to an end connected to the cable into a first part and a second part that are connected; wherein the first part is used to communicate with the inflation pipeline; a restraining device connected to the cable, the restraining device being used to fix or release the cable; A pod releasing device, used for fixing or releasing the pod; The roller device and the pod release device are both configured to be rotatable about a vertical axis passing through the restraint device.

[0006] The balloon release system according to the present invention comprises a first detection device, wherein the restraint device comprises a wire retracting and releasing device and a traction rope. The wire-retracting and -releasing device is in communication connection with the first detection device, the traction rope is stored in the wire-retracting and -releasing device, and the traction rope is connected to the cable; The first detection device is used to detect the apex angle of the cone formed by one end where the first part and the second part are connected; the wire-retracting and releasing device is used to retract and release the traction rope according to the size of the apex angle.

[0007] According to the balloon dispensing system of the present invention, the retractable wire device comprises: a base and a winch; The winch is rotatably arranged on the base, the traction rope is wound around the winch, and the winch is used to retract or release the traction rope.

[0008] According to the balloon dispensing system of the present invention, a cutter is provided on the traction rope.

[0009] According to the balloon dispensing system of the present invention, the roller device comprises: a first mobile base and a roller; The first movable base is configured to rotate around a vertical axis passing through the restraint device; the roller is movably arranged on the first movable base, and the roller can be moved to press on the balloon or release the balloon.

[0010] According to the balloon dispensing system of the present invention, the pod release device comprises a second mobile base and a mechanical arm; The second mobile base is configured to be rotatable around a vertical axis passing through the restraint device; the mechanical arm is arranged on the second mobile base, and the mechanical arm is used to clamp the cable to suspend the pod.

[0011] According to the balloon dispensing system of the present invention, the mechanical arm comprises a telescopic arm and a rotating arm; The telescopic arm is arranged on the second movable base, the telescopic arm is arranged at an angle with the horizontal plane, and the rotating arm is rotatably arranged on the top of the telescopic arm around a vertical axis; the telescopic arm can be extended and retracted to adjust the height of the rotating arm, and the rotating arm is used to clamp or release the cable.

[0012] In a second aspect, the present invention further provides a method for dispensing a balloon according to any one of the above-mentioned balloon dispensing systems, comprising: Inflating the first portion of the balloon and gradually releasing the cable during the inflation process; After the balloon is inflated, the positions of the roller device and the pod release device are adjusted according to the wind direction of the release environment, so that the roller device, the restraint device and the pod release device are arranged in sequence along the downwind direction; The roller device is controlled to release the balloon, and the restraining device is controlled to release the cable, and the pod releasing device is controlled to release the pod when the balloon reaches a first preset position.

[0013] The balloon dispensing method of the balloon dispensing system according to the present invention is characterized in that the step of controlling the roller device to release the balloon comprises: monitoring the wind speed of the release environment, and calculating the forward drift distance of the balloon when it reaches the second preset position according to the wind speed of the release environment and the ascending speed of the balloon, and controlling the restraint device to release the cable when the forward drift distance is less than the distance between the roller device and the pod release device; When the balloon reaches the second preset position, the balloon straightens the cable.

[0014] According to the balloon dispensing system dispensing method of the present invention, before the step of controlling the pod releasing device to release the pod when the balloon reaches the first preset position, the method further includes: The moving direction of the balloon is monitored, and the position of the pod releasing device is adjusted according to the forward direction of the balloon, so that the pod releasing device is located in front of the moving direction of the balloon.

[0015] The balloon release system of the present invention divides the balloon into a first part and a second part that are connected by pressing a roller device in the middle of the balloon. During the inflation process, the first part gradually expands and the second part remains flat, which can reduce the windward area of ​​the balloon during the inflation process, thereby reducing the wind resistance of the balloon during the inflation process and preventing the balloon from being damaged by wind force during the inflation process. At the same time, the roller device and the pod release device can both rotate relative to the constraint device so that the roller device, the constraint device and the pod release device are arranged in sequence along the downwind direction before the balloon is released, thereby preventing the balloon from being damaged by wind force after release. Before the balloon is released by the constraint device, the balloon is mainly constrained by the constraint device, and the pod release device can still adjust its position according to the wind direction without directly pulling the balloon, thereby preventing the pod release device from directly pulling the balloon during the turning process and damaging the balloon, which is conducive to preventing the balloon from being damaged by wind force during the release process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is one of the schematic diagrams of the balloon dispensing system provided in the embodiment of the present invention.

[0018] Figure 2 This is the second schematic diagram of the balloon dispensing system provided in the embodiment of the present invention.

[0019] Figure 3 The present invention is a schematic diagram of a process of releasing a pod by a pod releasing device provided in an embodiment of the present invention.

[0020] Figure 4 It is a flowchart of a balloon dispensing method provided by a balloon dispensing system according to an embodiment of the present invention.

[0021] Reference numerals: 1. Balloon release system; 2. Balloon; 21. First part; 22. Second part; 3. Cable; 31. First mooring cable; 32. Second mooring cable; 4. Pod; 5. Parachute; 11. roller device; 111. first movable base; 112. roller; 12. Restraint device; 121. Retractable wire device; 1211. Base; 1212. Winch; 122. Towing rope; 123. Cutter; 13. pod release device; 131. second mobile base; 132. mechanical arm; 1321. telescopic arm; 1322. rotating arm. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Combine the following Figure 1-Figure 3 The balloon delivery system of the present invention is described.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention provides a balloon release system 1, comprising a balloon 2, a cable 3 and a pod 4 connected in sequence. The balloon release system 1 also includes: a roller device 11, a restraining device 12 and a pod releasing device 13. The roller device 11 is pressed on the balloon 2, and divides the balloon 2 from an end away from the cable 3 to an end connected to the cable 3 into a first part 21 and a second part 22 that are connected. The restraining device 12 is connected to the cable 3, and the restraining device 12 is used to fix or release the cable 3. The pod releasing device 13 is used to fix or release the pod 4. The roller device 11 and the pod releasing device 13 are both configured to be rotatable around a vertical axis passing through the restraining device 12.

[0025] In this embodiment, by setting the roller device 11 to be pressed in the middle position of the balloon 2, the balloon 2 is divided into a first part 21 and a second part 22 that are connected. The first part 21 is connected to the inflation pipeline for inflation. It can be understood that during the inflation process, the first part 21 will gradually expand, so that the balloon 2 gradually moves relative to the roller device 11 to the side where the first part 21 is located. Due to the change in the pressing position of the roller device 11, the first part 21 and the second part 22 will transform into each other, rather than two fixed structures. By setting the roller device 11, during the inflation of the balloon 2, only the first part 21 expands and floats, and the second part 22 is not inflated, so as to avoid the balloon 2 from floating as a whole from the beginning of inflation, which is conducive to reducing the windward area of ​​the balloon 2 during the inflation process, thereby reducing the wind resistance of the balloon 2 during the inflation process, and avoiding the balloon 2 being damaged by wind during the inflation process.

[0026] At the same time, by setting a restraint device 12 connected to the cable 3, the restraint device 12 can be used to fix the cable 3, thereby providing a fixed point between the balloon 2 and the pod 4. The roller device 11 and the pod release device 13 are both configured to rotate around the restraint device 12, so that after the balloon 2 is inflated, the positions of the roller device 11 and the pod release device 13 are adjusted according to the wind direction, so that the roller device 11, the restraint device 12 and the pod release device 13 are arranged in sequence along the downwind direction, so that after the roller device 11 releases the balloon 2, the balloon 2 can float toward the restraint device 12 and the pod release device 13 to prevent the balloon 2 from being pulled. When the balloon 2 passes over the restraint device 12, the restraint device 12 can release the cable 3, and when the balloon 2 then passes over the pod release device 13, the pod release device 13 releases the pod 4 to complete the release of the balloon 2. It is understandable that after the roller device 11 is released, if the wind direction changes, the position of the pod release device 13 can still be adjusted according to the change in wind direction, so that the pod release device 13 is always located in the forward direction of the balloon 2.

[0027] The balloon release system 1 of the present invention divides the balloon 2 into a first part 21 and a second part 22 which are connected by pressing a roller device 11 in the middle of the balloon 2. During the inflation process, the first part 21 gradually expands and the second part 22 remains flat, which can reduce the windward area of ​​the balloon 2 during the inflation process, thereby reducing the wind resistance of the balloon 2 during the inflation process, and preventing the balloon 2 from being pulled by the wind and damaged during the inflation process; at the same time, the roller device 11 and the pod release device 13 can both rotate relative to the constraint device 12 so that the roller device 11, the constraint device 12 and the pod release device 13 are arranged in sequence along the downwind direction before the balloon 2 is released, so as to prevent the balloon 2 from being pulled and damaged after the release. Before the balloon 2 is released by the constraint device 12, the balloon 2 is mainly constrained by the constraint device 12, and the pod release device 13 can still adjust its position according to the wind direction without directly pulling the balloon 2, thereby preventing the pod release device 13 from directly pulling the balloon 2 and damaging the balloon 2 during the turning process, which is conducive to preventing the balloon 2 from being pulled and damaged during the release process.

[0028] It is understandable that a parachute 5 is usually provided between the balloon 2 and the pod 4 so as to recover the pod 4 after the test is completed. Specifically, the cable 2 may include a first tether 31 and a second tether 32. For example, the balloon 2 and the parachute 5 are connected via the first tether 31, and the parachute 5 and the pod 4 are connected via the second tether 32.

[0029] In some embodiments, Figure 1 and Figure 2 As shown, the balloon release system 1 also includes a first detection device (not shown in the figure), and the restraint device 12 includes a wire-retracting device 121 and a traction rope 122. The wire-retracting device 121 is in communication connection with the first detection device, and the traction rope 122 is stored in the wire-retracting device 121, and the traction rope 122 is connected to the cable 3. The first detection device is used to detect the vertex angle of the cone formed by one end connected to the first part 21 and the second part 22. The wire-retracting device 121 is used to retract and release the traction rope 122 according to the size of the vertex angle.

[0030] In this embodiment, it is understood that when the first part 21 of the balloon 2 is inflated, the first part 21 will gradually expand and float, and the connection between the first part 21 and the second part 22 is pressed by the roller device 11, so that a conical structure is formed at the bottom of the first part 21. The first detection device of this embodiment can be a detection device such as a visual detection system, which is used to identify and detect the top angle of the cone (such as Figure 1The corresponding vertex angle information is sent to the retractable line device 121. The retractable line device 121 gradually releases the traction rope 122 during the inflation of the balloon 2. The traction rope 122 is connected to the cable 3. When the traction rope 122 is released, the cable 3 is also released, so that the balloon 2 gradually moves relative to the roller device 11 to the side where the first part 21 is located. While the balloon 2 is inflated, the tension of the first part 21 and the second part 22 is controlled to prevent the first part 21 and the second part 22 from pulling each other and causing damage to the balloon 2.

[0031] Specifically, when the apex angle α is smaller than the first preset angle, the retractable line device 121 does not release the traction rope 122, and the traction rope 122 pulls the cable 3 to prevent the balloon 2 from gradually moving relative to the roller device 11 toward the side where the first part 21 is located, so as to control the windward area of ​​the first part 21, thereby reducing the wind resistance of the first part 21; and when the first part 21 continues to expand so that the apex angle α is greater than or equal to the first preset angle, the retractable line device 121 is controlled to release the traction rope 122, so that a part of the second part 22 passes through the roller device 11 and changes to be connected with the first part 21, thereby reducing the apex angle α. While controlling the width of the windward surface of the first part 21, it can avoid the first part 21 and the second part 22 pulling each other after the transition expansion to damage the balloon 2.

[0032] Specifically, in some embodiments, Figure 1 and Figure 2 As shown, the wire-retracting device 121 comprises: a base 1211 and a winch 1212. The winch 1212 is rotatably disposed on the base 1211, and the traction rope 122 is wound around the winch 1212. The winch 1212 is used to retract or release the traction rope 122.

[0033] In this embodiment, the base 1211 is used to be fixed on a surface such as the ground or a platform to provide a fixed point. The winch 1212 is rotatably disposed on the base 1211 to wind the traction rope 122. The traction rope 122 can be retracted and released by controlling the rotation of the winch 1212. The structure is simple and convenient and practical.

[0034] In some embodiments, Figure 1 and Figure 2 As shown, a cutter 123 is provided on the traction rope 122. In this embodiment, the cutter 123 is used to cut the traction rope 122 so as to release the cable 3.

[0035] Optionally, a clamping mechanism may also be provided at the end of the traction rope 122 to clamp or release the cable 3 .

[0036] In some embodiments, Figure 1As shown, the roller device 11 includes: a first movable base 111 and a roller 112. The first movable base 111 is configured to rotate around a vertical axis passing through the restraining device 12. The roller 112 is movably arranged on the first movable base 111, and the roller 112 can be moved to press on the balloon 2 or release the balloon 2.

[0037] In this embodiment, the first mobile base 111 can rotate around the constraint device 12 to adjust the relative position of the first mobile base 111 and the constraint device 12, so that the first mobile base 111 and the constraint device 12 are arranged in sequence along the downwind direction. At the same time, a roller 112 is provided on the first mobile base 111, and the roller 112 can press the balloon 2 and divide the balloon 2 into a first part 21 and a second part 22. When the balloon 2 moves relative to the roller 112 during the inflation process, the roller 112 can roll with the movement of the balloon 2, reducing the friction between the roller 112 and the balloon 2, and reducing the wear of the roller 112 on the balloon 2; the roller 112 can also be moved away from the top of the balloon 2 to release the balloon 2.

[0038] Specifically, the first mobile base 111 can be a track vehicle or a trackless vehicle. For example, an arc track extending around the restraining device 12 is laid on the ground, and the first mobile base 111 is arranged on the arc track so that the first mobile base 111 can move around the restraining device 12.

[0039] In some embodiments, Figure 1 and Figure 3 As shown, the pod release device 13 includes a second mobile base 131 and a mechanical arm 132. The second mobile base 131 is configured to rotate around a vertical axis passing through the restraint device 12. The mechanical arm 132 is disposed on the second mobile base 131, and the mechanical arm 132 is used to clamp the cable 3 to suspend the pod 4.

[0040] In this embodiment, the second mobile base 131 can rotate around the restraint device 12 to adjust the relative position of the second mobile base 131 and the restraint device 12, so that the restraint device 12 and the second mobile base 131 are arranged in sequence along the downwind direction. At the same time, by arranging a mechanical arm 132 on the second mobile base 131, the mechanical arm 132 can clamp the cable 3, so that the pod 4 has a certain height, and release the cable 3 and the pod 4 at an appropriate time to complete the release of the balloon 2. The pod release device 13 of this embodiment does not need to place the pod 4 on the platform, and can be applied to pods 4 of various sizes and models. By making the pod 4 suspended in the air, the obstacles around the pod 4 can be minimized to avoid the pod 4 from colliding with obstacles during the process of rising with the balloon 2. The pod 4 has a certain height, which can prevent the pod 4 from falling slightly in a short time and colliding with the ground when the mechanical arm 132 releases the cable 3.

[0041] It is understandable that the mechanical arm 132 can be clamped on the second tether 32 between the parachute 5 and the pod 4.

[0042] Specifically, in some embodiments, Figure 1 and Figure 3 As shown, the mechanical arm 132 includes a telescopic arm 1321 and a rotating arm 1322. The telescopic arm 1321 is arranged on the second mobile base 131, the telescopic arm 1321 is arranged at an angle with the horizontal plane, and the rotating arm 1322 is rotatably arranged on the top of the telescopic arm 1321 around a vertical axis; the telescopic arm 1321 can be extended and retracted to adjust the height of the rotating arm 1322, and the rotating arm 1322 is used to clamp or release the cable 3.

[0043] In this embodiment, by providing a telescopic arm 1321 on the second mobile base 131, the telescopic arm 1321 can be extended to adjust the height of the rotating arm 1322, so as to adjust the clamping height of the mechanical arm 132 according to the size of the pod 4 and the demand for releasing the balloon 2. A rotating arm 1322 for clamping the cable 3 is provided on the top of the telescopic arm 1321, and the rotating arm 1322 can rotate in a horizontal plane after releasing the cable 3 to avoid the ascending path of the cable 3 and the pod 4, thereby preventing the pod 4 from colliding with the rotating arm 1322 during the ascending process.

[0044] Specifically, in some embodiments, the telescopic arm 1321 is arranged in an oblique upward direction to avoid collision between the suspended pod 4 and the telescopic arm 1321 as much as possible.

[0045] Specifically, after the rotating arm 1322 releases the cable 3 , it can rotate 90 degrees in the horizontal plane to avoid interfering with the movement path of the nacelle 4 .

[0046] On the other hand, the present invention also provides a balloon dispensing method based on the balloon dispensing system 1 provided in any of the above embodiments. The dispensing method of the present invention, by adopting the balloon dispensing system 1 of the above embodiment, also has the advantages of the above balloon dispensing system 1, which will not be described in detail here. Figure 4 As shown, the distribution method of the present invention comprises the following steps: Step S101: Inflate the first part of the balloon and gradually release the cable during the inflation process.

[0047] Step S102: After the balloon is inflated, the positions of the roller device and the pod release device are adjusted according to the wind direction of the release environment, so that the roller device, the restraint device and the pod release device are arranged in sequence.

[0048] Step S103: Control the roller device to release the balloon, and control the restraint device to release the cable, and control the pod release device to release the pod when the balloon reaches the first preset position.

[0049] It is understandable that before release, the balloon 2, the cable 3 and the pod 4 need to be connected to each other, and the roller device 11 is pressed in the middle of the balloon 2, the balloon 2 is divided into a first part 21 and a second part 22 that are connected, and the cable 3 is connected to the restraint device 12, and the pod 4 is set in the pod release device 13. After the balloon 2 is laid and the various structures are connected, the first part 21 is connected to the inflation pipeline to inflate the first part 21, so that the first part 21 gradually expands. During the expansion process, the restraint device 12 gradually releases the cable 3, so that the balloon 2 gradually passes through the roller device 11, until the entire balloon 2 passes through the roller device 11, and the inflation of the balloon 2 is completed.

[0050] During the inflation process, the first part 21 gradually expands and the second part 22 remains flat, which can reduce the windward area of ​​the balloon 2 during the inflation process, thereby reducing the wind resistance of the balloon 2 during the inflation process and preventing the balloon 2 from being damaged by wind pulling during the inflation process.

[0051] After the balloon 2 is inflated, the inflation pipeline can be closed, and the near-ground wind speed and direction can be measured using wind profile radar, wind-measuring tethered balloons, etc. The positions of the roller device 11 and the pod releasing device 13 can be adjusted around the restraint device 12 according to the wind direction of the release environment, so that the roller device 11, the restraint device 12 and the pod releasing device 13 are arranged in sequence along the downwind direction.

[0052] Then the roller device 11 is controlled to release the balloon 2. The balloon 2 moves under the action of buoyancy and wind force and floats toward the restraint device 12 and the pod release device 13. Then the restraint device 12 is controlled to release the cable 3. It is understandable that the restraint device 12 can release the cable 3 before the balloon 2 reaches the top of the restraint device 12 or when it reaches the top of the restraint device 12. When the balloon 2 continues to float and reaches the first preset position, the pod release device 13 is controlled to release the pod 4, thereby completing the release of the balloon 2. It is understandable that the first preset position is usually a position close to the top of the pod 4 to avoid the part of the cable 3 being in a transitional tilt state when the pod 4 is released, causing the pod 4 to swing and affect the stable climbing of the balloon 2 and the pod 4.

[0053] Specifically, in some embodiments, when the balloon 2 reaches the first preset position, the angle between the inclined portion of the cable 3 and the numerical direction is less than a second preset angle. In some specific implementations, the second preset angle is in the range of 5-15 degrees.

[0054] In some embodiments, the step of controlling the roller device to release the balloon comprises the following steps: Monitor the wind speed of the release environment, and calculate the forward drift distance of the balloon when it reaches the second preset position based on the wind speed of the release environment and the balloon's ascending speed. When the forward drift distance is less than the distance between the roller device and the pod release device, control the restraint device to release the cable.

[0055] When the balloon 2 reaches the second preset position, the balloon 2 straightens the cable 3 .

[0056] In this embodiment, before the balloon 2 is released from the roller device 11, the wind speed of the release environment can be monitored, and the ascent speed of the balloon 2 can be calculated according to the buoyancy and mass of the balloon 2, so as to calculate the time when the balloon 2 reaches the second preset position and the forward drift distance. It can be understood that the forward drift distance is the distance that the balloon 2 floats forward in the downwind direction after being released. Before the balloon 2 reaches the second preset position, at least a portion of the cable 3 is in a relaxed state (such as Figure 3 As shown in the figure), if the forward floating distance of the balloon 2 to reach the second preset position is less than the distance between the roller device 11 and the pod releasing device 13, it means that the balloon 2 can reach the second preset position and straighten the cable 3 before reaching directly above the pod releasing device 13, thereby avoiding that when the balloon 2 reaches the first preset position above the pod releasing device 13, part of the cable 3 is still in a loose and bent state, causing a large drop of the pod 4 when it is released and causing an accident.

[0057] Specifically, in some embodiments, before the step of controlling the pod releasing device to release the pod when the balloon reaches the first preset position, the following steps are also included: Monitor the movement direction of the balloon, and adjust the position of the pod release device according to the forward direction of the balloon so that the pod release device is located in front of the movement direction of the balloon.

[0058] In this embodiment, after the balloon 2 is released from the roller device 11, before reaching the first preset position to release the pod 4, the balloon 2 will gradually rise to a certain height. The wind direction and wind speed in the altitude environment where the balloon 2 is located may be different from the wind direction and wind speed near the ground. Therefore, the movement direction of the balloon 2 can be detected by visual detection, motion sensors and other equipment, and the pod releasing device 13 can be continuously adjusted according to the forward direction of the balloon 2, so that the pod releasing device 13 is always located in front of the movement direction of the balloon 2 to avoid the balloon 2 and the pod 4 pulling each other during the floating process, causing damage to the balloon 2.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A balloon release system, comprising a balloon, a cable and a pod connected in sequence, characterized in that: Also includes: A roller device is pressed on the balloon and divides the balloon from an end away from the cable to an end connected to the cable into a first part and a second part that are connected; wherein the first part is used to communicate with the inflation pipeline; a restraining device connected to the cable, the restraining device being used to fix or release the cable; A pod releasing device, used for fixing or releasing the pod; The roller device and the pod release device are both configured to be rotatable about a vertical axis passing through the restraint device.

2. The balloon dispensing system according to claim 1, characterized in that: It also includes a first detection device, the restraint device includes a wire-retracting device and a traction rope, The wire-retracting and -releasing device is in communication connection with the first detection device, the traction rope is stored in the wire-retracting and -releasing device, and the traction rope is connected to the cable; The first detection device is used to detect the apex angle of the cone formed by one end where the first part and the second part are connected; the wire-retracting and releasing device is used to retract and release the traction rope according to the size of the apex angle.

3. The balloon dispensing system according to claim 2, characterized in that: The wire-reeling device comprises: a base and a winch; The winch is rotatably arranged on the base, the traction rope is wound around the winch, and the winch is used to retract or release the traction rope.

4. The balloon dispensing system according to claim 2, characterized in that: A cutter is provided on the traction rope.

5. The balloon dispensing system according to claim 1, characterized in that: The roller device comprises: a first movable base and a roller; The first movable base is configured to rotate around a vertical axis passing through the restraint device; the roller is movably arranged on the first movable base, and the roller can be moved to press on the balloon or release the balloon.

6. The balloon dispensing system according to claim 1, characterized in that: The pod release device includes a second mobile base and a mechanical arm; The second mobile base is configured to be rotatable around a vertical axis passing through the restraint device; the mechanical arm is arranged on the second mobile base, and the mechanical arm is used to clamp the cable to suspend the pod.

7. The balloon dispensing system according to claim 6, characterized in that: The mechanical arm comprises a telescopic arm and a rotating arm; The telescopic arm is arranged on the second movable base, the telescopic arm is arranged at an angle with the horizontal plane, and the rotating arm is rotatably arranged on the top of the telescopic arm around a vertical axis; the telescopic arm can be extended and retracted to adjust the height of the rotating arm, and the rotating arm is used to clamp or release the cable.

8. A balloon dispensing system dispensing method according to any one of claims 1 to 7, characterized in that: include: Inflating the first portion of the balloon and gradually releasing the cable during the inflation process; After the balloon is inflated, the positions of the roller device and the pod release device are adjusted according to the wind direction of the release environment, so that the roller device, the restraint device and the pod release device are arranged in sequence along the downwind direction; The roller device is controlled to release the balloon, and the restraining device is controlled to release the cable, and the pod releasing device is controlled to release the pod when the balloon reaches a first preset position.

9. The balloon dispensing system dispensing method according to claim 8, characterized in that: The step of controlling the roller device to release the balloon comprises: monitoring the wind speed of the release environment, and calculating the forward drift distance of the balloon when it reaches the second preset position according to the wind speed of the release environment and the ascending speed of the balloon, and controlling the restraint device to release the cable when the forward drift distance is less than the distance between the roller device and the pod release device; When the balloon reaches the second preset position, the balloon straightens the cable.

10. The balloon dispensing system dispensing method according to claim 8, characterized in that: Before the step of controlling the pod releasing device to release the pod when the balloon reaches the first preset position, the method further includes: The moving direction of the balloon is monitored, and the position of the pod releasing device is adjusted according to the forward direction of the balloon, so that the pod releasing device is located in front of the moving direction of the balloon.

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