Balloon launching system and launching method

Abstract

The present application relates to high altitude balloon launching technical field, provide a kind of balloon launching system and launching method, balloon launching system includes sequentially connected balloon, cable and gondola and drum device, restraint device and gondola release device.Drum device is pressed in balloon, and the balloon is divided into the first part and the second part connected in communication from the end away from cable to the end connected with cable.Restraint device is connected with cable, and restraint device is used to fix or release cable.Gondola release device is used to fix or release gondola.Drum device and gondola release device are both configured to be rotatable around vertical axis passing through restraint device.The balloon launching system of the present application, during inflation process, drum device and gondola release device can be rotated relative to restraint device so as to arrange drum device, restraint device and gondola release device in turn along the direction of wind before releasing balloon, avoid balloon from being damaged after release.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high altitude balloon launching, in particular to a balloon launching system and a launching method. BACKGROUND

[0002] High altitude balloon is a commonly used unpowered aerostat, which can carry various types of loads to 20-50km to carry out tests, has the characteristics of large load capacity and flight height, and has been an irreplaceable high altitude test platform. The balloon film of the high altitude balloon is an ultra-thin material with a thickness of microns, which is easy to be damaged during inflation and launching, and usually needs to select a small wind speed window for inflation and launching operation.

[0003] In some use scenarios, due to the large size of the balloon, the balloon-mounted pod and the cable therebetween, the balloon and the pod need to be arranged on two launching devices far apart from each other during launching. During the launching process, once the wind speed and direction change, the positions of the two launching devices are difficult to adjust, which can easily cause the balloon to be damaged and result in test failure. SUMMARY

[0004] The present application provides a balloon launching system and a launching method to solve the defect that the position of the launching device is difficult to adjust after the wind speed and direction change during the launching process in the prior art, which can easily cause the balloon to be damaged and result in test failure.

[0005] In a first aspect, the present application provides a balloon launching system, comprising a balloon, a cable and a pod connected in sequence, and further comprising:

[0006] A roller device is arranged on the balloon and divides the balloon into a first part and a second part in communication from one end away from the cable to one end connected to the cable; wherein the first part is used in communication with an inflation pipeline;

[0007] A restraint device is connected to the cable, and the restraint device is used to fix or release the cable;

[0008] A pod release device is used to fix or release the pod;

[0009] The roller device and the pod release device are both configured to rotate around a vertical axis passing through the restraint device.

[0010] According to the balloon launching system of the present application, the restraint device comprises a winding and unwinding device and a traction rope,

[0011] The winding and unwinding device and the first detection device are in communication connection, the traction rope is accommodated in the winding and unwinding device, and the traction rope is connected to the cable;

[0012] The first detection device is used to detect the vertex angle of the cone formed by the joint of the first part and the second part; and the winding and unwinding device is used to wind or unwind the traction rope according to the size of the vertex angle.

[0013] According to the balloon launching system, the winding and unwinding device comprises a base and a winch.

[0014] The winch is rotatably arranged on the base, and the traction rope is wound on the winch, and the winch is used to wind or unwind the traction rope.

[0015] According to the balloon launching system, a cutter is arranged on the traction rope.

[0016] According to the balloon launching system, the roller device comprises a first movable base and a roller.

[0017] The first movable base is configured to be rotatable around a vertical axis passing through the restraint device; and the roller is movably arranged on the first movable base, and the roller is movable to press or release the balloon.

[0018] According to the balloon launching system, the gondola releasing device comprises a second movable base and a mechanical arm.

[0019] The second movable base is configured to be rotatable around a vertical axis passing through the restraint device; and the mechanical arm is arranged on the second movable base, and the mechanical arm is used to clamp the cable to make the gondola suspended.

[0020] According to the balloon launching system, the mechanical arm comprises a telescopic arm and a rotary arm.

[0021] The telescopic arm is arranged on the second movable base, and the telescopic arm is arranged at an angle with the horizontal plane; and the rotary arm is rotatably arranged on the top of the telescopic arm around a vertical axis; the telescopic arm is telescopic to adjust the height of the rotary arm, and the rotary arm is used to clamp or release the cable.

[0022] In a second aspect, the present application further provides a launching method of the balloon launching system according to any one of the above, comprising:

[0023] Inflating the first part of the balloon and gradually releasing the cable during the inflation process;

[0024] After the balloon is inflated, the positions of the roller device and the gondola releasing device are adjusted according to the wind direction of the launching environment, so that the roller device, the restraint device and the gondola releasing device are arranged in sequence along the wind direction.

[0025] Controlling the drum device to release the balloon, and controlling the restraint device to release the cable, and controlling the gondola release device to release the gondola when the balloon reaches a first preset position.

[0026] The balloon release method of the balloon release system according to the present application, wherein the step of controlling the drum device to release the balloon comprises:

[0027] Monitoring the wind speed of the release environment, and calculating the upwind distance of the balloon when it reaches a second preset position according to the wind speed of the release environment and the ascending speed of the balloon, and when the upwind distance is less than the distance between the drum device and the gondola release device, controlling the restraint device to release the cable.

[0028] When the balloon reaches the second preset position, the balloon straightens the cable.

[0029] The balloon release method of the balloon release system according to the present application, further comprising, before the step of controlling the gondola release device to release the gondola when the balloon reaches a first preset position:

[0030] Monitoring the moving direction of the balloon, and adjusting the position of the gondola release device according to the moving direction of the balloon, so that the gondola release device is located in front of the moving direction of the balloon.

[0031] The balloon release system according to the present application, by arranging a drum device in the middle of the balloon, the balloon is divided into a first part and a second part which are connected, 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 avoiding damage to the balloon caused by wind drag during the inflation process; at the same time, the drum device and the gondola release device can rotate relative to the restraint device so that the drum device, the restraint device and the gondola release device are arranged in turn along the wind direction before the balloon is released, thereby avoiding damage to the balloon caused by the drag after the balloon is released. Before the balloon is released by the restraint device, the balloon is mainly constrained by the restraint device, and the gondola release device can still adjust the position according to the wind direction without directly pulling the balloon, thereby avoiding damage to the balloon caused by the gondola release device directly pulling the balloon during the turning process, and being conducive to avoiding damage to the balloon caused by the drag during the release process. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0033] Figure 1 This is one of the schematic diagrams of the balloon dispensing system provided in an embodiment of the present invention.

[0034] Figure 2 This is the second schematic diagram of the balloon dispensing system provided by an embodiment of the present invention.

[0035] Figure 3 The figure is a schematic diagram of a process of releasing a pod by a pod releasing device provided in an embodiment of the present invention.

[0036] 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.

[0037] Reference numerals:

[0038] 1. Balloon launch system; 2. Balloon; 21. First section; 22. Second section; 3. Cable; 31. First mooring cable; 32. Second mooring cable; 4. Gondola; 5. Parachute;

[0039] 11. Roller device; 111. First movable base; 112. Roller;

[0040] 12. Restraint device; 121. Retractable wire device; 1211. Base; 1212. Winch; 122. Towing rope; 123. Cutter;

[0041] 13. Pod release device; 131. Second mobile base; 132. Robotic arm; 1321. Telescopic arm; 1322. Rotating arm. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0043] The following combination Figure 1-Figure 3 The balloon delivery system of the present invention is described.

[0044] like Figure 1 、 Figure 2 and Figure 3As shown, the present invention provides a balloon launching system 1, comprising a balloon 2, a cable 3 and a pod 4 connected in sequence. The balloon launching system 1 further comprises: a roller device 11, a restraining device 12 and a pod releasing device 13. The roller device 11 is pressed onto the balloon 2 and divides the balloon 2 into a first part 21 and a second part 22 that are connected from one end away from the cable 3 to the end connected to the cable 3. The restraining device 12 is connected to the cable 3 and is used to fix or release the cable 3. The pod releasing device 13 is used to fix or release the pod 4. Both the roller device 11 and the pod releasing device 13 are configured to be rotatable around a vertical axis passing through the restraining device 12.

[0045] In this embodiment, a roller device 11 is provided to be pressed against the middle of the balloon 2, dividing the balloon 2 into a first portion 21 and a second portion 22. The first portion 21 is connected to the inflation line for inflation. It is understood that during inflation, the first portion 21 gradually expands, causing the balloon 2 to gradually move toward the side of the first portion 21 relative to the roller device 11. Due to the change in the pressing position of the roller device 11, the first portion 21 and the second portion 22 can transform into each other, rather than being two fixed structures. By providing the roller device 11, during the inflation of the balloon 2, only the first portion 21 expands and floats, while the second portion 22 remains uninflated. This prevents the balloon 2 from floating as a whole from the outset of inflation, thereby reducing the windward area of ​​the balloon 2 during inflation, thereby reducing wind resistance during inflation and preventing damage to the balloon 2 caused by wind force during inflation.

[0046] At the same time, by providing a restraint device 12 connected to the cable 3, the restraint device 12 can be used to secure 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. After the balloon 2 is fully inflated, the positions of the roller device 11 and the pod release device 13 are adjusted according to the wind direction. The roller device 11, the restraint device 12, and the pod release device 13 are arranged in a sequence along the wind direction. 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, preventing the balloon 2 from being pulled. When the balloon 2 passes over the restraint device 12, the restraint device 12 releases the cable 3. When the balloon 2 then passes over the pod release device 13, the pod release device 13 releases the pod 4, completing the launch 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 releasing device 13 can still be adjusted according to the change in wind direction, so that the pod releasing device 13 is always located in the forward direction of the balloon 2.

[0047] The balloon dispensing system 1 of the present invention utilizes a roller device 11 pressed into the middle of the balloon 2, dividing the balloon 2 into a first portion 21 and a second portion 22. During inflation, the first portion 21 gradually expands while the second portion 22 remains flat, reducing the area of ​​the balloon 2 facing the wind during inflation, thereby reducing wind resistance and preventing damage to the balloon 2 caused by wind drag during inflation. Furthermore, the roller device 11 and the pod release device 13 are both rotatable relative to the restraint device 12, so that the roller device 11, the restraint device 12, and the pod release device 13 are arranged in a downwind direction before the balloon 2 is released, preventing damage to the balloon 2 caused by drag after release. Before the balloon 2 is released by the restraint device 12, the balloon 2 is primarily restrained by the restraint device 12, while the pod release device 13 can still adjust its position according to wind direction without directly pulling on the balloon 2. This prevents the pod release device 13 from directly pulling on the balloon 2 during the turning process, thus effectively preventing damage to the balloon 2 caused by drag during the dispensing process.

[0048] It is understood that a parachute 5 is typically provided between the balloon 2 and the gondola 4 to facilitate recovery of the gondola 4 after the test. 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 is connected to the gondola 4 via the second tether 32.

[0049] In some embodiments, as Figure 1 and Figure 2 As shown, the balloon deployment system 1 also includes a first detection device (not shown). The restraint device 12 includes a retractable wire device 121 and a traction rope 122. The retractable wire device 121 is in communication with the first detection device. The traction rope 122 is stored in the retractable wire device 121 and is connected to the cable 3. The first detection device is used to detect the vertex angle of the cone formed by one end of the first portion 21 and the second portion 22. The retractable wire device 121 is used to retract and extend the traction rope 122 based on the vertex angle.

[0050] In this embodiment, it is understood that when the first portion 21 of the balloon 2 is inflated, the first portion 21 will gradually expand and float upward, and the connection between the first portion 21 and the second portion 22 is pressed by the roller device 11, thereby forming a conical structure at the bottom end of the first portion 21. The first detection device of this embodiment can be a detection device such as a visual detection system for identifying and detecting the top angle of the cone (such as Figure 1The top angle a is shown in the figure, and the corresponding top angle information is sent to the take-up and pay-off device 121. The take-up and pay-off device 121 gradually releases the traction rope 122 during the inflation of the balloon 2, and the traction rope 122 is connected with 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 drum device 11 to the side where the first part 21 is located. The tension of the first part 21 and the second part 22 is controlled during the inflation of the balloon 2, so as to avoid the mutual pulling of the first part 21 and the second part 22, which can damage the balloon 2.

[0051] Specifically, when the top angle a is less than the first preset angle, the take-up and pay-off device 121 does not release the traction rope 122, and the traction rope 122 pulls the cable 3 to avoid the balloon 2 gradually moving relative to the drum device 11 to 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. When the first part 21 continues to expand so that the top angle a is greater than or equal to the first preset angle, the take-up and pay-off device 121 is controlled to release the traction rope 122, so that a part of the second part 22 passes through the drum device 11 and is in communication with the first part 21, thereby reducing the top angle a. The width of the windward area of the first part 21 can be controlled, and the first part 21 can be prevented from being damaged by the mutual pulling of the first part 21 and the second part 22 after the first part 21 is excessively expanded.

[0052] Specifically, in some embodiments, as shown in Figure 1 and Figure 2 The take-up and pay-off device 121 includes a base 1211 and a winch 1212. The winch 1212 is rotatably arranged on the base 1211, and the traction rope 122 is wound on the winch 1212. The winch 1212 is used to wind or release the traction rope 122.

[0053] In the embodiment, the base 1211 is used to be fixed on the surface of the ground or platform to provide a fixed point, and the winch 1212 is rotatably arranged on the base 1211 to wind the traction rope 122. The traction rope 122 can be wound or released by controlling the rotation of the winch 1212, which is simple in structure and convenient and practical.

[0054] In some embodiments, as shown in Figure 1 and Figure 2 The traction rope 122 is provided with a cutter 123. In the embodiment, the cutter 123 is used to cut the traction rope 122 to release the cable 3.

[0055] Alternatively, a clamping mechanism can be arranged at the end of the traction rope 122 to clamp or release the cable 3.

[0056] In some embodiments, as shown in 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 about a vertical axis passing through the restraining device 12. The roller 112 is movably mounted on the first movable base 111 and can be moved to press against or release the balloon 2.

[0057] In this embodiment, the first movable base 111 can rotate about the restraining device 12 to adjust the relative positions of the first movable base 111 and the restraining device 12, so that the first movable base 111 and the restraining device 12 are arranged in a sequential manner along the wind. Furthermore, a roller 112 is provided on the first movable base 111. The roller 112 can press down the balloon 2 and divide the balloon 2 into a first portion 21 and a second portion 22. When the balloon 2 moves relative to the roller 112 during inflation, the roller 112 rolls with the balloon 2, reducing friction between the roller 112 and the balloon 2, thereby reducing wear on the balloon 2. The roller 112 can also be moved away from the balloon 2 to release the balloon 2.

[0058] Specifically, the first mobile base 111 can be a rail vehicle or a trackless vehicle. For example, a curved track extending around the restraining device 12 is laid on the ground, and the first mobile base 111 is set on the curved track so that the first mobile base 111 can move around the restraining device 12.

[0059] In some embodiments, as Figure 1 and Figure 3 As shown, the pod releasing 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 restraining device 12. The mechanical arm 132 is provided on the second mobile base 131 and is used to clamp the cable 3 to suspend the pod 4.

[0060] In this embodiment, the second mobile base 131 can rotate about the restraining device 12 to adjust the relative positions of the second mobile base 131 and the restraining device 12, so that the restraining device 12 and the second mobile base 131 are arranged sequentially along the downwind direction. Furthermore, by providing a robotic arm 132 on the second mobile base 131, the robotic arm 132 can clamp the cable 3, maintain the pod 4 at a certain height, and release the cable 3 and pod 4 at the appropriate time to complete the release of the balloon 2. The pod release device 13 of this embodiment does not require the pod 4 to be placed on a platform and is suitable for pods 4 of various sizes. By suspending the pod 4, obstacles around the pod 4 can be minimized, preventing the pod 4 from colliding with obstacles during its ascent with the balloon 2. The height of the pod 4 can prevent the pod 4 from falling slightly in a short period of time and colliding with the ground when the robotic arm 132 releases the cable 3.

[0061] It is understandable that the robotic arm 132 can be clamped on the second tether 32 between the parachute 5 and the pod 4.

[0062] Specifically, in some embodiments, Figure 1 and Figure 3 As shown, the robotic arm 132 includes a telescopic arm 1321 and a rotating arm 1322. The telescopic arm 1321 is disposed on the second mobile base 131 and is arranged at an angle to the horizontal plane. The rotating arm 1322 is rotatably disposed 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. The rotating arm 1322 is used to clamp or release the cable 3.

[0063] In this embodiment, a telescopic arm 1321 is provided on the second mobile base 131. The telescopic arm 1321 can be extended and retracted to adjust the height of the rotating arm 1322, thereby adjusting the gripping height of the robotic arm 132 according to the size of the pod 4 and the required balloon 2 launch. A rotating arm 1322 is provided at the top of the telescopic arm 1321 for gripping the cable 3. After the cable 3 is released, the rotating arm 1322 can rotate in the horizontal plane 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 ascent.

[0064] 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.

[0065] 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 pod 4 .

[0066] 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 dispensing method of the present invention includes the following steps:

[0067] Step S101: Inflate the first portion of the balloon and gradually release the cable during the inflation process.

[0068] 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.

[0069] Step S103: Control the roller device to release the balloon, 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.

[0070] It will be appreciated that prior to launch, balloon 2, cable 3, and gondola 4 must be connected to one another. Roller assembly 11 must be pressed against the center of balloon 2, dividing balloon 2 into a first portion 21 and a second portion 22. Cable 3 must be connected to restraint assembly 12, and gondola 4 must be positioned within gondola release assembly 13. After balloon 2 is deployed and all structural connections are made, first portion 21 is connected to the inflation line to inflate and gradually expand. During the inflation process, restraint assembly 12 gradually releases cable 3, allowing balloon 2 to gradually pass through roller assembly 11 until the entire balloon 2 has passed through, completing inflation.

[0071] 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.

[0072] 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 profiler radar, wind-measuring tethered balloons, etc., and the positions of the roller device 11 and the pod release 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 release device 13 are arranged in sequence along the downwind direction.

[0073] The roller device 11 is then controlled to release the balloon 2. Under the influence of buoyancy and wind, the balloon 2 moves toward the restraint device 12 and the pod release device 13. The restraint device 12 is then controlled to release the cable 3. It will be appreciated that the restraint device 12 can release the cable 3 before or after the balloon 2 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 will be appreciated that the first preset position is typically located directly above the pod 4 to prevent the cable 3 from tilting when the pod 4 is released, causing the pod 4 to swing and affect the stable ascent of the balloon 2 and pod 4.

[0074] 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.

[0075] In some embodiments, the step of controlling the roller device to release the balloon comprises the following steps:

[0076] 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 rising 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.

[0077] When the balloon 2 reaches the second preset position, the balloon 2 straightens the cable 3 .

[0078] In this embodiment, before the balloon 2 is released from the roller device 11, the wind speed in the release environment can be monitored and the rising speed of the balloon 2 can be calculated based on the buoyancy and mass of the balloon 2, thereby calculating the time it takes for the balloon 2 to reach the second preset position and the forward drift distance. It can be understood that the forward drift distance is the distance 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 (e.g., Figure 3 As shown in the figure), if the forward floating distance of the balloon 2 before reaching 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 the pod 4 to fall significantly when being released and causing an accident.

[0079] 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 method further includes the following steps:

[0080] Monitor the direction of movement of the balloon and adjust the position of the pod release device according to the direction of movement of the balloon so that the pod release device is located in front of the direction of movement of the balloon.

[0081] 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 release device 13 can be continuously adjusted according to the forward direction of the balloon 2, so that the pod release 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.

[0082] 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 various embodiments of the present invention.

Claims

1. A balloon launching system comprising a balloon, a cable and a pod connected in sequence, characterized in that: Also includes: a roller device, pressed against the balloon, and dividing the balloon from an end away from the cable to an end connected to the cable into a first portion and a second portion that are connected; wherein the first portion is used to communicate with the inflation pipeline; a restraint device connected to the cable, the restraint device being used to secure or release the cable; A pod releasing device, used for fixing or releasing the pod; The roller device and the pod release device are each configured to rotate about a vertical axis passing through the restraint device; The first detection device, the restraint device includes a wire-reeling device and a traction rope, The wire-reeling device is in communication with the first detection device, the traction rope is stored in the wire-reeling 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 line-retracting device is used to retract and release the traction rope according to the size of the apex angle.

2. The balloon dispensing system according to claim 1, wherein: 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.

3. The balloon dispensing system according to claim 1, wherein: A cutter is provided on the traction rope.

4. The balloon dispensing system according to claim 1, wherein: 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.

5. The balloon dispensing system according to claim 1, wherein: The pod releasing device includes a second mobile base and a mechanical arm; The second mobile base is configured to rotate around a vertical axis passing through the restraint device; the mechanical arm is provided on the second mobile base, and the mechanical arm is used to clamp the cable to make the pod suspended in the air.

6. The balloon dispensing system according to claim 5, wherein: The robotic 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 to 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.

7. A balloon dispensing method according to any one of claims 1 to 6, 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 wind direction; The roller device is controlled to release the balloon, and the restraining device is controlled to release the cable. When the balloon reaches a first preset position, the pod releasing device is controlled to release the pod.

8. The balloon dispensing method according to claim 7, wherein: 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 based on 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.

9. The balloon dispensing method according to claim 7, wherein: 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 moving 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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