A quick-release mechanism, a rapid deployment suspension device, and a multi-task execution method

Abstract

The present invention discloses a rapid deployment suspension device and a multi-task execution method, which mainly comprise components such as floating air balloons, multi-rotor unmanned aerial vehicles, quick-release mechanisms, gas source systems, semi-open balloon cabins, central controllers, power cabins, and suspension mission cabins. This device can achieve rapid deployment at any altitude and method, achieve on-site mooring while rapidly deploying, balance rapid deployment while achieving long-term suspension, and finally can return with mission equipment; at the same time, this device can achieve conventional deployment to ensure the smooth recovery of mission equipment in the event of balloon or mooring rope failure during the processes of launching, suspension, or recovery. In addition, the present invention also discloses a design and folding method for floating air balloons under rapid deployment conditions, thereby achieving self-straightening and replacing complex parachute drop straightening.

Description

Technical Field

[0001] The present invention relates to a quick-release mechanism, a rapid deployment suspension device and a multi-task execution method, belonging to the field of aerostat research. Background Art

[0002] Relying on advantages such as long hovering time and low energy consumption, floating balloons can perform tasks such as data communication, ground observation, and battlefield monitoring. However, during the deployment process, there are problems such as many restrictions on flying conditions, high risks during the ascending process, and long deployment times. In case of extreme weather conditions, it may lead to cable breakage or rupture of the floating balloon, ultimately resulting in the loss of expensive mission equipment carried by the floating balloon.

[0003] In response to the above problems, experts in related fields have successively proposed the concept of rapid deployment of floating balloons (for reference: Cao Xu, Liao Hang, etc. An airborne floating balloon system. Invention Patent No.: 201610947550.3). Although this solution solves the problem of too long deployment time of floating balloons, the structure of this solution is relatively complex. It requires a parachute to straighten the folded floating balloon and decelerate. Affected by the external wind field, it may not be possible to deploy at the predetermined position. Secondly, affected by the height loss of the deceleration parachute, this solution has relatively high requirements for the release height. If the release height is too low, it may lead to deployment failure and the inability to achieve deployment at any height. In addition, after the floating balloon of this solution unfolds, the positioning is greatly affected by the mission equipment load and the external wind field, and it is impossible to achieve fixed-point mooring or recover the mission equipment.

[0004] To solve some of the above problems, related solutions have also been successively proposed (for reference: Wang Chuan, Yang Wei, A tethered unmanned aerial vehicle. Invention Patent No.: 201710145157.7). Although it solves some positioning problems, limited by the fixed balloon volume, it also has relatively high requirements for the mission equipment load and the positioning height. This solution essentially still belongs to the category of ground fixed-point deployment aerostats.

[0005] In summary, it is difficult for existing aerostat solutions to effectively and uniformly solve problems such as rapid deployment, arbitrary height release, fixed-point mooring, multi-task switching, and effective recovery in case of accidents. Therefore, a general device and a multi-task implementation method are urgently needed in the field of aerostat research. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a rapid deployment suspension device and a multi-task implementation method, which for the first time solve the problem of rapid deployment without parachute deceleration, thereby reducing the deployment risk; solve the problem of inaccurate aerial positioning of existing rapidly deployed aerostats; solve the problem of task switching between rapid deployment and conventional deployment. In addition, the present invention also discloses a method for folding and straightening a floating balloon without a parachute. By improving the folding method, the floating balloon can be automatically straightened, reducing the risk of skin damage caused by high-speed airflow.

[0007] The present invention adopts the following technical solutions to solve the above technical problems:

[0008] A quick-release mechanism is used to connect a floating balloon carried on a multi-rotor unmanned aerial vehicle and a gas source. The quick-release mechanism includes a support plate, a pulley column, two upper-layer sliders, two lower-layer sliders, a first slide rail, two first fixed guiding blocks, two first electromagnets, an upper flange connector, a lower flange connector, a central controller and a power supply compartment; the first slide rail, the two first fixed guiding blocks and the two first electromagnets are arranged at the bottom of the fuselage of the multi-rotor unmanned aerial vehicle; the upper flange connector is connected to the air nozzle of the floating balloon; the lower flange connector is connected to the output end of the gas source;

[0009] The two upper-layer sliders are connected to the bottom of the fuselage of the multi-rotor unmanned aerial vehicle through the first slide rail; the two upper-layer sliders are connected by a first spring; a first guiding rod is respectively connected to the outer sides of the two upper-layer sliders, and each first guiding rod passes through a first fixed guiding block and points to a first electromagnet;

[0010] The support plate is connected to the bottom of the fuselage of the multi-rotor unmanned aerial vehicle through a support column; a second slide rail, two second fixed guiding blocks and two second electromagnets are arranged on the upper surface of the support plate;

[0011] The two lower-layer sliders are connected to the support plate through the second slide rail; the two lower-layer sliders are connected by a second spring; a second guiding rod is respectively connected to the outer sides of the two lower-layer sliders of the support plate, and each second guiding rod passes through a second fixed guiding block and points to a second electromagnet;

[0012] A semi-circular through hole is respectively opened on the inner sides of the two upper-layer sliders and the two lower-layer sliders, and a semi-circular counterbore hole with the same center is opened at each semi-circular through hole; after the two upper-layer sliders are attached, the corresponding two semi-circular counterbore holes form a first circular counterbore hole for placing the flange of the upper flange connector; after the two lower-layer sliders are attached, the corresponding two semi-circular counterbore holes form a second circular counterbore hole for placing the flange of the lower flange connector;

[0013] The first and second electromagnets are controlled by the central controller and the power supply compartment.

[0014] Wherein, a spring positioning bead is respectively arranged on each upper-layer slider, and the multi-rotor unmanned aerial vehicle positions the two upper-layer sliders through the spring positioning beads; a spring positioning bead is respectively arranged on each of the lower-layer sliders, and the support plate positions the two lower-layer sliders through the spring positioning beads.

[0015] Wherein, the installation angle between the upper and lower-layer sliders is 90°, and lubricating oil is applied between the upper and lower-layer sliders.

[0016] Among them, the diameter of the semi-circular through hole is larger than the body diameter of the upper flange connector and the lower flange connector, but smaller than the flange diameter thereof; while the diameter and depth of the semi-circular counterbore are respectively equal to the flange diameter and thickness of the flange connector of the lower flange connector.

[0017] Among them, sealing ring grooves are provided on the end faces of the upper flange connector and the lower flange connector, and an O-ring can be placed therein.

[0018] Furthermore, a suspension device is provided, which includes a multi-rotor unmanned aerial vehicle, a floating balloon, a gas source, a quick-release mechanism as described above, and a suspension mission cabin, and the suspension mission cabin is arranged on the multi-rotor unmanned aerial vehicle; wherein:

[0019] The quick-release mechanism further includes a pulley column, and the upper edge plate of the pulley column is fixed by a fixed buckle and a movable buckle through which the support plate passes, and the movable buckle is connected to a third electromagnet at a corresponding position on the lower surface of the support plate through a third spring; a ground mooring hook is provided on the lower edge plate of the pulley column;

[0020] The multi-rotor unmanned aerial vehicle, the support plate, and the pulley column are all provided with central through holes; the nozzle of the floating balloon and the upper flange connector pass through the multi-rotor unmanned aerial vehicle, and the flange of the upper flange connector is placed in the first circular counterbore; the flange of the lower flange connector is placed in the second circular counterbore;

[0021] A number of mission devices are provided in the suspension mission cabin, and the third electromagnet and each mission device are controlled by a central controller and a power supply cabin.

[0022] Among them, the lower edge plate of the pulley column is detachable; the aperture of the central through hole is larger than the flange diameters of the upper flange connector and the lower flange connector;

[0023] The gas source of the above suspension device can also adopt a gas cylinder, and the output end of the gas cylinder is sequentially connected to a solenoid valve and a flexible connecting pipe, and the flexible connecting pipe is connected to the lower flange connector; the central controller and the power supply cabin remotely control the on-off of the solenoid valve.

[0024] Furthermore, a fixed pulley is sleeved on the pulley column in the quick-release mechanism of the above suspension device; a mooring rope is wound around the fixed pulley; one end of the mooring rope is fixedly connected to the fixed pulley, and the other end is fixed to the gas cylinder through a crescent groove on the lower edge plate of the pulley column; an electromagnetic positioning pin and a first positioning hole matching the electromagnetic positioning pin are also provided on the lower edge plate of the pulley column; second positioning holes matching the electromagnetic positioning pin are arranged in a circumferential array along the lower edge plate of the fixed pulley; the electromagnetic positioning pin is wirelessly remotely controlled by the central controller and the power supply cabin.

[0025] The installation method of the above suspension device is specifically as follows:

[0026] Step 1: The central controller and the power supply cabin control the first and second electromagnets to be energized, so that the two upper-layer sliders and the two lower-layer sliders are respectively separated from each other against the spring force of the springs;

[0027] Step 2: Fit the end faces of the upper flange connector and the lower flange connector together, and at the same time install the flanges of the two on the first and second first circular counterbore holes respectively;

[0028] Step 3: The central controller and the power supply compartment control the first and second electromagnets to cut off the power, so that the two upper sliders and the two lower sliders fit together under the spring force of the springs, and at the same time clamp the flanges of the upper flange connector and the lower flange connector;

[0029] Step 4: Connect the nozzle of the floating balloon to the upper flange connector, thereby realizing the assembly of the floating balloon and the multi-rotor UAV;

[0030] Step 5: Connect the output end of the gas source to the lower flange connector, thereby realizing the assembly of the gas source and the multi-rotor UAV.

[0031] Furthermore, a rapid deployment suspension device is provided. Compared with the above suspension device, a semi-open balloon compartment is added, and the closed end of the semi-open balloon compartment is connected to the top of the fuselage of the multi-rotor UAV. And the floating balloon adopts the following structure: including multiple main body skins, a polymer-based thin film, an inflation tube, a nozzle. The side walls between adjacent main body skins are connected. The top of each main body skin is thermally bonded to the polymer-based thin film to form a sphere; the inflation tube is placed inside the sphere, the top of the inflation tube is sealed with a constant-pressure rupture film, and is bonded to the polymer-based thin film with multiple reinforcing bands. The nozzle is arranged at the bottom of the inflation tube, and the bottom of each main body skin is thermally bonded to the nozzle and the inflation tube; the lower end of the nozzle is connected to the upper flange connector, and the upper end is connected to a one-way valve, and the one-way valve is placed inside the inflation tube.

[0032] Among them, the diameter of the top of the inflation tube is D = d + 2·l0 / l tube ·a, where d is the diameter at the thermally bonded part of the inflation tube and the bottom of the main body skin, l tube is the length of the inflation tube, a is the thickness of the inflation tube, l0 is the depth of the nozzle and the one-way valve extending into the floating balloon, l tube is an odd integer multiple of l0.

[0033] Among them, the sphere diameter D of the floating balloon balloon is obtained by solving the equation where h is the suspension mission altitude, p and ρ air are the atmospheric pressure and atmospheric density at the suspension mission altitude respectively;, ρ he is the volume density of helium gas under the condition of pressure p + 200Pa; ρ skin is the average area density of the floating balloon skin; m UAV,mass is the mass of the multi-rotor UAV without battery; m UAV,p&c is the mass of the central controller and the power supply compartment; m UAV,loadIt is the mass when the suspension mission module is loaded with equipment; m lock It is the mass of the quick-release mechanism; m balloon,app It is the mass of the floating balloon except for the skin; m bottle It is the mass of the gas cylinder, and b is the mooring coefficient (the value ranges from 0.1 to 0.8).

[0034] The installation method of the above-mentioned rapid deployment suspension device is as follows:

[0035] Step 1: The central controller and the power supply module control the first and second electromagnets to be energized, so that the two upper sliders and the two lower sliders are separated from each other against the spring force of the springs;

[0036] Step 2: Fit the end faces of the upper flange connector and the lower flange connector together, and at the same time install their flanges in the first and second first circular counterbore holes respectively;

[0037] Step 3: The central controller and the power supply module control the first and second electromagnets to be de-energized, so that the two upper sliders and the two lower sliders are fitted together under the action of the spring force of the springs, and at the same time clamp the flanges of the upper flange connector and the lower flange connector;

[0038] Step 4: Connect the nozzle of the floating balloon to the upper flange connector, thereby realizing the assembly of the floating balloon and the multi-rotor UAV;

[0039] Step 5: Connect the output end of the gas source to the lower flange connector, thereby realizing the assembly of the gas source and the multi-rotor UAV;

[0040] Step 6: With the axis direction of the nozzle and the one-way valve as the center, stack the charging pipes radially in a circular shape, stack the main skin axially, and then stack the floating balloon in the semi-open balloon compartment;

[0041] Step 7: Paste waterproof paper at the open end of the semi-open balloon compartment to seal the semi-open balloon compartment.

[0042] Among them, the waterproof paper is provided with a tearing guide line, and the diameter of the central circular tearing guide line is 2-3 times the diameter D of the top of the high-strength charging pipe.

[0043] Furthermore, for the suspension device using a ground gas source (non-gas cylinder) for conventional mission deployment, the specific steps of the mission execution method of the suspension device are as follows:

[0044] Step 1: The central controller and the power supply module control the first and second electromagnets to be energized, so that the two upper sliders and the two lower sliders are separated from each other against the spring force of the springs;

[0045] Step 2: Fit the end faces of the upper flange connector and the lower flange connector together, and install the flanges of the two on the first and second first circular counterbore holes respectively;

[0046] Step 3: The central controller and the power supply compartment control the first and second electromagnets to cut off the power, so that the two upper sliders and the two lower sliders fit together under the spring force of the springs, and clamp the flanges of the upper flange connector and the lower flange connector at the same time;

[0047] Step 4: Connect the ground mooring hook to the ground mooring rope on the ground mooring rope winch, connect the air nozzle of the floating air balloon to the upper flange connector, and connect the output end of the gas source to the lower flange connector, so as to realize the inflation of the floating air balloon by the gas source;

[0048] Step 6: After the floating air balloon is filled, the central controller and the power supply compartment control the second electromagnet to be energized, so that the two lower sliders are separated against the spring force of the springs, and the lower flange connector and the connected gas source are released;

[0049] Step 7: Release the floating air balloon and the connected multi-rotor UAV through the ground mooring rope winch. If the floating air balloon fails or the ground mooring rope breaks during the release process, go to Step 10; otherwise, go to Step 8;

[0050] Step 8: After the floating air balloon rises to the suspension mission altitude, the mission equipment in the suspension mission compartment starts to work. If the floating air balloon fails or the ground mooring rope breaks during the work process, go to Step 10; otherwise, go to Step 9;

[0051] Step 9: After the mission equipment finishes working, the ground mooring rope winch recovers the floating air balloon and the connected multi-rotor UAV. If the floating air balloon fails or the ground mooring rope breaks during the recovery process, go to Step 10; otherwise, go to Step 15;

[0052] Step 10: The central controller and the power supply compartment control the third electromagnet to be energized, drive the movable buckle, and further discard the pulley column;

[0053] Step 11: The central controller and the power supply compartment control the first electromagnet to be energized, so that the two upper sliders are separated against the spring force of the springs, and discard the upper flange connector and the connected floating air balloon;

[0054] Step 12: If the height of the multi-rotor UAV from the ground is less than the set height threshold, start the power of the multi-rotor UAV, then go to Step 14; otherwise, go to Step 13;

[0055] Step 13: The multi-rotor UAV free-falls to a height from the ground that meets the set height threshold, and starts the rotor power of the multi-rotor UAV

[0056] Step 14: The multi-rotor UAV returns according to the command requirements, and the task execution ends;

[0057] Step 15: The floating balloon and the connected multi-rotor UAV are retrieved through the ground tether winch, and the task execution ends.

[0058] Furthermore, for the rapid task deployment of the rapid deployment suspension device using gas cylinders, the specific steps of the task execution method of the suspension device are as follows:

[0059] Step 1: The central controller and the power supply compartment control the first and second electromagnets to be energized, so that the two upper sliders and the two lower sliders are separated from each other against the spring force of the springs;

[0060] Step 2: Fit the end faces of the upper flange connector and the lower flange connector together, and at the same time install their flanges in the first and second first circular counterbore holes respectively;

[0061] Step 3: The central controller and the power supply compartment control the first and second electromagnets to be de-energized, so that the two upper sliders and the two lower sliders fit together under the spring force of the springs, and at the same time clamp the flanges of the upper flange connector and the lower flange connector;

[0062] Step 4: Launch the multi-rotor UAV in the air or fly it on the ground, and keep hovering at the specified suspension task altitude and azimuth according to the command;

[0063] Step 5: The central controller and the power supply compartment control the solenoid valve to open for air release, so as to inflate the floating balloon with the gas source;

[0064] Step 6: After the floating balloon is full, the central controller and the power supply compartment control the second electromagnet to be energized, so that the two lower sliders are separated from each other against the spring force of the springs, release the lower flange connector and the connected gas source, and at the same time drive the fixed pulley to rotate under the action of the self-weight of the gas source system, and release the tether;

[0065] Step 7: After Step 6 starts to execute and delays for the first set time, the central controller and the power supply compartment control the electromagnetic positioning pin to lock into the second positioning hole of the lower edge plate of the fixed pulley;

[0066] Step 8: The multi-rotor UAV shuts down the rotor power, and the task equipment in the suspension task compartment starts to work;

[0067] Step 9: After the task equipment finishes working, the central controller and the power supply compartment control the third electromagnet to be energized, drive the movable buckle, and discard the pulley column and the fixed pulley;

[0068] Step Ten: After Step Nine starts and is delayed by the second set time, the central controller and the power cabin control the first electromagnet to be energized, so that the two upper sliders overcome the spring force of the spring and are in a separated state, and the upper flange connector and the connected floating balloon are discarded.

[0069] Step Eleven: After Step Ten starts and is delayed by the third set time, the multi-rotor UAV starts the rotor power and automatically returns according to the instruction.

[0070] Compared with the prior art, the present invention adopts the above technical solutions and has the following technical effects: It can realize the inflation of the floating balloon without the need for parachute deceleration and straightening, can quickly and accurately deploy the floating balloon, can switch between rapid deployment and conventional deployment tasks, and at the same time realizes the automatic return of the mission equipment, ensuring the loss of the mission equipment caused by the failure of the balloon or the mooring rope during the conventional deployment process. Brief Description of the Drawings

[0071] Figure 1 is the overall schematic diagram of the rapid deployment suspension device;

[0072] Figure 2 is the schematic diagram of the floating balloon;

[0073] Figure 3 is the partial schematic diagram of the top of the floating balloon;

[0074] Figure 4 is the partial schematic diagram of the bottom of the floating balloon;

[0075] Figure 5 is the schematic diagram of the upper slider in the quick-release mechanism;

[0076] Figure 6 is the schematic diagram of the connection between the upper slider in the quick-release mechanism and the multi-rotor UAV;

[0077] Figure 7 is the schematic diagram of the connection between the lower slider in the quick-release mechanism and the pallet;

[0078] Figure 8 is the schematic diagram of the connection between the pallet and the fixed pulley;

[0079] Figure 9 is the schematic diagram of the electromagnetic positioning pin positioning of the lower edge plate of the pulley column;

[0080] Figure 10 is the schematic diagram of the gas source;

[0081] Figure 11 is the exploded view of the assembly of the four sliders;

[0082] Figure 12 is the schematic diagram of the assembly between the upper flange connector and the slider;

[0083] Figure 13 It is a schematic diagram of the assembly between the lower flange connector and the slider;

[0084] Figure 14 It is a schematic diagram of the assembly of the quick-release mechanism;

[0085] Figure 15 It is a schematic diagram of the folding of the floating balloon in the semi-open balloon cabin;

[0086] Figure 16 It is a schematic diagram of the assembly of the parts below the pallet;

[0087] Figure 17 It is a schematic diagram of the waterproof paper and the tear guide wire;

[0088] Figure 18 It is a schematic diagram of the initial state when performing the rapid deployment mission;

[0089] Figure 19 It is a schematic diagram of the inflation of the high-strength inflatable tube;

[0090] Figure 20 It is a schematic diagram of the inflation of the floating balloon after the pressure-breaking film ruptures;

[0091] Figure 21 It is a schematic diagram of the fully inflated state of the floating balloon when performing the rapid deployment mission;

[0092] Figure 22 It is a schematic diagram of discarding the gas source system when performing the rapid deployment mission;

[0093] Figure 23 It is a schematic diagram of discarding the pulley column and the fixed pulley when performing the rapid deployment mission;

[0094] Figure 24 It is a schematic diagram of the return state after completing the rapid deployment mission;

[0095] Figure 25 It is a schematic diagram of the connection between the ground mooring hook and the ground mooring rope winch when performing the conventional deployment mission;

[0096] Figure 26 It is a schematic diagram of the state of the multi-rotor UAV during the emergency recovery procedure when performing the conventional deployment mission;

[0097] In the figure, 1 is a floating air balloon, 2 is a multi-rotor unmanned aerial vehicle, 3 is a quick-release mechanism, 4 is a gas source, 5 is a reinforced polymer-based film, 6 is a reinforcing belt, 7 is a main skin, 8 is a high-strength inflatable tube, 9 is a nozzle, 10 is an upper flange connector, 11 is a constant-pressure rupture film, 12 is a one-way valve, 13 is a slider, 14 is a slide rail, 15 is a spring positioning bead, 16 is a guide rod, 17 is a guide block, 18 is an electromagnet, 19 is a spring, 20 is a support plate, 21 is a support column, 22 is a fixed buckle, 23 is a movable buckle, 24 is a pulley column, 25 is the upper edge plate of the pulley column, 26 is the electromagnet corresponding to the movable buckle, 27 is a compressed spring, 28 is a fixed pulley, 29 is a mooring rope, 30 is a lower edge plate, 31 is an electromagnetic positioning pin, 32 is a ground mooring hook, 33 is a lower flange connector, 34 is a flexible connecting pipe, 35 is a solenoid valve, 36 is a gas cylinder, 37 is an open balloon cabin, 38 is a central controller and power supply cabin, 39 is a suspension mission cabin, 40 is an O-ring, 41 is waterproof paper, and 42 is a tear guiding wire. Detailed implementation mode

[0098] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The implementation modes described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be construed as a limitation of the present invention. At the same time, those skilled in the art of the present technology can understand that unless otherwise defined, all terms (including technical terms and scientific terms) used here have the same meaning as the general understanding of those of ordinary skill in the technical field to which the present invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless defined as here.

[0099] The present invention provides a rapid deployment suspension device, such as Figure 1 shown, the device includes a floating air balloon 1, a multi-rotor unmanned aerial vehicle 2, a quick-release mechanism 3, a gas source 4, a semi-open balloon cabin 37, a central controller and power supply cabin 38, and a suspension mission cabin 39.

[0100] The floating air balloon 1 includes multiple main skins 7, a polymer-based film 5, an inflatable tube 8, and a nozzle 9, as Figure 2 、 Figure 3 and Figure 4 shown. The side walls of adjacent main skins 7 are connected, multiple main skins 7 are thermally bonded to the top reinforced polymer-based film 5, and the main skin 7 is thermally bonded to the nozzle 9 and the high-strength inflatable tube 8 at the bottom; in addition, the high-strength inflatable tube 8 is sealed at the top with a constant-pressure rupture film 11 and bonded to the top reinforced polymer-based film 5 with multiple reinforcing belts 6; and the nozzle 9 is connected to the upper flange connector 10 at the bottom and the one-way valve 12 at the top.

[0101] As shown Figure 1 in the figure, a semi-open balloon cabin 37 is connected to the top of the multi-rotor UAV 2, and a suspension mission cabin 39, a central controller and a power supply cabin 38 are fixedly connected to the bottom. Different mission devices can be carried on the suspension mission cabin.

[0102] As shown Figure 5 and Figure 6 in the figure, two upper-layer sliders 13 of the quick-release mechanism 3 are connected to the multi-rotor UAV 2 through slide rails 14; the multi-rotor UAV 2 positions these two sliders 13 respectively with two spring positioning beads 15; and the guide rods 16 of these two sliders 13 pass through the fixed guide block 17 and point to the electromagnet 18; at the same time, the two sliders 13 are connected by two springs 19. In addition, the fixed guide blocks 17 and electromagnets 18 corresponding to these two upper-layer sliders 13 are installed on the multi-rotor UAV 2.

[0103] As shown Figure 7 in the figure, two lower-layer sliders 13 of the quick-release mechanism 3 are connected to the pallet 20 through slide rails 14; the pallet 20 positions these two sliders 13 respectively with two spring positioning beads 15; similarly, the guide rods 16 of these two sliders 13 pass through the fixed guide block 17 and point to the electromagnet 18; and these two sliders 13 are connected by two springs 19. In addition, the pallet 20 is connected to the multi-rotor UAV 2 through four support columns 21; different from Figure 5 and Figure 6 the figure shown, the fixed guide blocks 17 and electromagnets 18 corresponding to these two lower-layer sliders 13 are installed on the pallet 20.

[0104] As shown Figure 8 and Figure 9 in the figure, the pallet 20 of the quick-release mechanism 3 fixes the upper edge plate 25 of the pulley column 24 through the fixed buckle 22 and the movable buckle 23; and a compressed spring 27 is installed between the movable buckle 23 and the corresponding electromagnet 26; a fixed pulley 28 is sleeved on the pulley column 24; the mooring rope 29 is wound around the fixed pulley 28, one end is fixed to the fixed pulley 28, and the other end is fixed to the gas cylinder 36 through the crescent groove of the lower edge plate 30; the detachable lower edge plate 30 of the pulley column 24 is provided with a wirelessly controllable electromagnetic positioning pin 31 and a ground mooring hook 32. In addition, as shown Figure 9 in the figure, the lower edge plate of the fixed pulley 28 is provided with circumferentially arrayed positioning holes, and the electromagnetic positioning pin 31 can be inserted into the positioning holes to prevent the fixed pulley 28 from rotating under the remote control of the central controller and the power supply cabin 38.

[0105] As shown Figure 10 in the figure, the gas cylinder 36 of the gas source 4 is sequentially connected to the solenoid valve 35, the flexible connecting pipe 34 and the lower flange connector 33, wherein the solenoid valve 35 is wirelessly remotely controlled by the central controller and the power supply cabin 38.

[0106] As shown Figure 5 and Figure 11As shown, each slider 13 is provided with a semi-circular through-hole and a semi-circular counterbore on the fitting side. The diameter of the semi-circular through-hole is larger than the body diameter of the lower flange connector 33 of the upper flange connector 10, but smaller than its flange diameter. The diameter and depth of the semi-circular counterbore of the slider 13 are respectively equal to the flange diameter and thickness of the upper flange connector 10 and the lower flange connector 33. In addition, the installation angle between the upper and lower layers of sliders 13 is 90°, and lubricating oil is applied between the upper and lower layers of sliders 13.

[0107] As Figure 12 , Figure 13 and Figure 14 shown, the multi-rotor unmanned aerial vehicle 2, the pallet 20 and the pulley column 24 are provided with central through-holes, and the hole diameters are larger than the flange diameters of the upper flange connector 10 and the lower flange connector 33. In addition, sealing ring grooves are provided on the end faces of the upper flange connector 10 and the lower flange connector 33, and O-ring seals 40 can be placed.

[0108] ● Taking the above rapid deployment suspension device to perform a rapid deployment task as an example for illustration.

[0109] First, select the floating balloon 1 and the multi-rotor unmanned aerial vehicle 2 according to the deployment task: the suspension height h is 150 meters, the atmospheric pressure p at a local height of 150 meters is 101330 Pa, and the atmospheric density ρ air is 1.29 kg / m 3 ; considering the skin strength of the floating balloon, the pressure after the floating balloon is filled is set to 101530 Pa, that is, p + 200 Pa, and the corresponding helium density ρ he is 0.1786 kg / m 3 ; the average area density ρ skin of the sphere is 0.13 kg / m 2 ; the mass m UAV,mass of the selected multi-rotor unmanned aerial vehicle 2 without a battery is 7 kg; the mass m UAV,p&c of the central controller and the power cabin 38 is 1.7 kg; the mass m UAV,load of the suspension mission cabin 39 when loading equipment is 4 kg; the mass m lock of the quick-release mechanism 3 is 0.25 kg; the mass m balloon,app of the accessories (except the skin) of the floating balloon 1 is 0.24 kg; the mass m bottle of the gas cylinder 36 is 1.1 kg; the meteorological conditions in the deployment area are relatively good, so the tether coefficient b is selected as 0.2.

[0110] Substitute the above parameters into the following equation to calculate the sphere diameter D balloon as 3.1 m.

[0111]

[0112] As Figure 4 andFigure 15 As shown, the nozzle 9 and the one-way valve 12 penetrate into the floating air balloon 1 to a depth of l0 = 0.12 m, then the length l of the high-strength inflatable tube 8 tube is selected as 3 m, and this length is less than the diameter D balloon of 3.1 m; the thickness a of the high-strength inflatable tube 8 is 0.002 m, and at the same time, the diameter d at its bottom at the heat melting point is 0.02 m. According to Equation 2, the top diameter D can be calculated as 0.12 m. The above design of the high-strength inflatable tube 8 with a narrow bottom and a wide top helps folding on the one hand. On the other hand, according to Bernoulli's equation, the design with a narrow bottom and a wide top can effectively reduce the air flow velocity and reduce the risk of balloon breakage.

[0113] D = d + 2·l0 / l tube ·a(2)

[0114] According to Equation 3, the maximum take-off mass m of the multi-rotor UAV 2 fly is at least greater than 21 kg.

[0115]

[0116] As Figure 14 , Figure 15 , Figure 16 and Figure 17 shown, the folding installation of the floating air balloon 1 and the installation of the gas source 4 are carried out for the rapid deployment suspension device for performing rapid deployment tasks. First, the electromagnets 18 corresponding to the four upper and lower sliders 13 are first energized under the control of the central controller and the power supply compartment 38, so that the two sliders 13 on the same layer are separated against the spring force of the spring 19; the end faces of the upper flange connector 10 and the lower flange connector 33 are fitted together, and an O-ring 40 is installed in their sealing ring grooves. At the same time, their flanges are installed in the semi-circular sunk holes of the slider 13; then the electromagnet 18 of the central controller and the power supply compartment 38 is de-energized, so that the slider 13 clamps the flanges of the upper flange connector 10 and the lower flange connector 33; the nozzle 9 is connected to the upper flange connector 10, thereby realizing the assembly of the floating air balloon 1 and the multi-rotor UAV 2; the flexible connecting pipe 34 is connected to the lower flange connector 33, and at the same time, the mooring rope 29 wound around the fixed pulley 28 is connected to the gas cylinder 36; thereby realizing the assembly of the gas source 4 and the multi-rotor UAV 2; then, with the axis direction of the nozzle 9 and the one-way valve 12 as the center, the high-strength inflatable tube 8 is radially stacked in a ring in the semi-open balloon compartment 37; the main body skin 7 is axially stacked; finally, a waterproof paper 41 is pasted at the open end of the semi-open balloon compartment 37, and the waterproof paper 41 is provided with a tear guiding line 42, where the diameter of the central circular tear guiding line is 2 - 3 times the top diameter D of the high-strength inflatable tube 8. Here, 0.25 m is selected.

[0117] As Figure 18As shown in the figure, the rapid deployment suspension device starts to execute the rapid deployment task. First, another vehicle drops a multi-rotor UAV 2 in the air or releases it on the ground, and it hovers at a specified height and azimuth according to the instructions.

[0118] As Figure 19 shown in the figure, the central controller and the power supply compartment 38 control the solenoid valve 35 to open and release helium gas; under the action of pressure, the high-strength inflatable tube 8 together with the reinforced polymer-based film 5 and part of the main body skin 7 break through the waterproof paper 41, but under the seal of the constant-pressure rupture film 11, the high-strength inflatable tube 8 is kept straight, and the sphere has not been inflated yet. As Figure 20 and Figure 21 shown in the figure, the gas source 4 continues to inflate, the pressure in the high-strength inflatable tube 8 continues to increase, and finally the constant-pressure rupture film 11 ruptures when it reaches the predetermined pressure, and helium gas starts to inflate the floating balloon through the high-strength inflatable tube 8. The time t1 required for the above deflation process is about 11 s, and this deflation time t1 is obtained in advance through ground deflation tests or numerical calculation methods.

[0119] As Figure 22 shown in the figure, after t1 = 11 s, the central controller and the power supply compartment 38 control the lower electromagnet 18 to be energized, pull apart the corresponding two lower sliders 13, discard the gas source 4, and at the same time, under the action of the self-gravity of the gas source 4, the fixed pulley 28 starts to rotate and releases the mooring rope 29; the entire release time is t2 = 30 s, which is obtained through Equation 4, where v release is the average falling speed of the gas cylinder 36 during the rotation and release of the gas cylinder 36 by the fixed pulley 28, about 10 m / s; then the central controller and the power supply compartment 38 control the electromagnetic positioning pin 31 to lock into the positioning hole of the lower edge plate of the fixed pulley 28; the multi-rotor UAV 2 turns off the rotor power, and the task equipment in its suspension mission compartment 39 starts to work.

[0120] t2 = 2·h / v release (4)

[0121] As Figure 23 shown in the figure, after the task is completed, the central controller and the power supply compartment 38 control the electromagnet 26 to be energized and drive the movable buckle 23 to further discard the pulley column 24 and the fixed pulley 28; as Figure 24 shown in the figure, after a delay of 2 seconds, the central controller and the power supply compartment 38 control the upper electromagnet 18 to be energized, pull apart the corresponding two upper sliders 13, and discard the floating balloon 1; after a further delay of 2 seconds, the multi-rotor UAV 2 starts to activate the rotor power and returns automatically according to the instructions.

[0122] · Taking the rapid deployment suspension device executing the conventional deployment task as an example for illustration.

[0123] The execution of the conventional deployment altitude is 15,000 m. For the conventional floating air balloon, the commonly used stratospheric balloon design scheme and the corresponding gas source scheme are selected.

[0124] As Figure 25 shown, first, remove the fixed pulley 28 on the quick-release mechanism 3, the attached mooring rope 29 and the electromagnetic positioning pin 31; the upper flange connector 10 is connected to the conventional floating air balloon, the lower flange connector 33 is connected to the conventional ground gas source, and the ground mooring hook 32 is connected to the ground mooring rope winch; after the conventional floating air balloon is filled, release the lower flange connector 33 and the connected ground gas source through the quick-release mechanism 3;

[0125] Release the conventional floating air balloon and the connected multi-rotor UAV 2 through the ground mooring rope winch. After the conventional floating air balloon rises to the predetermined height, the mission equipment in the suspension mission cabin 39 starts to work. After the mission is completed normally, the ground mooring rope winch retrieves the conventional floating air balloon and the connected multi-rotor UAV.

[0126] If the floating air balloon fails or the ground mooring rope breaks during the above-mentioned launching, working or retrieving process, immediately start the emergency retrieval procedure: As Figure 26 shown, the electromagnet 26 in the quick-release mechanism 3 is energized and drives the movable buckle 23 to further discard the pulley column 24; the central controller in the central controller and the power supply cabin 38 controls the upper electromagnet 18 to be energized, pulls the two upper sliders 13 corresponding to it apart, and discards the upper flange connector 10 and the connected conventional floating air balloon; the multi-rotor UAV 2 free-falls to a height of 500 meters from the ground, and the rotor power of the multi-rotor UAV 2 is started; if the height is less than 500 meters, then 2 seconds after discarding the upper flange connector 10 and the connected conventional floating air balloon, immediately start the power of the multi-rotor UAV; finally, the multi-rotor UAV 2 returns according to the command requirements.

[0127] For the suspension device of the present invention, its basic mechanism is a multi-rotor UAV, a floating air balloon, a gas source, a quick-release mechanism, and a suspension mission cabin. During the actual mission deployment, the technical features of the above embodiments can be combined arbitrarily according to needs, such as: multi-rotor UAV + conventional floating air balloon + conventional ground gas source + quick-release mechanism + suspension mission cabin, multi-rotor UAV + conventional floating air balloon + gas cylinder type gas source + quick-release mechanism + suspension mission cabin, multi-rotor UAV + the floating air balloon designed by the present invention + conventional ground gas source + quick-release mechanism + suspension mission cabin, multi-rotor UAV + the floating air balloon designed by the present invention + gas cylinder type gas source + quick-release mechanism + suspension mission cabin, multi-rotor UAV + the floating air balloon designed by the present invention + semi-open balloon cabin + gas cylinder type gas source + quick-release mechanism + suspension mission cabin, etc. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should all be considered as within the scope described in this specification.

[0128] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A quick-release mechanism (3), characterized in that, The quick-release mechanism (3) is used to connect the floating balloon (1) carried on the multi-rotor UAV (2) and the gas source (4); The quick-release mechanism (3) includes a support plate (20), a pulley column (24), two upper sliders, two lower sliders, a first slide rail, two first fixed guide blocks, two first electromagnets, an upper flange connector (10), a lower flange connector (33), and a central controller and a power supply compartment (38); the first slide rail, two first fixed guide blocks, and two first electromagnets are arranged at the bottom of the fuselage of the multi-rotor UAV (2); the upper flange connector (10) is connected to the nozzle (9) of the floating balloon (1); the lower flange connector (33) is connected to the output end of the gas source (4); The two upper sliders are connected to the bottom of the fuselage of the multi-rotor UAV (2) through the first slide rail; the two upper sliders are connected by a first spring; a first guide rod is connected to the outside of each of the two upper sliders, and each first guide rod passes through a first fixed guide block and points to a first electromagnet; The support plate (20) is connected to the bottom of the fuselage of the multi-rotor UAV (2) through a support column; a second slide rail, two second fixed guide blocks, and two second electromagnets are arranged on the upper surface of the support plate (20); The two lower sliders are connected to the support plate (20) through the second slide rail; the two lower sliders are connected by a second spring; a second guide rod is connected to the outside of each of the two lower sliders of the support plate, and each second guide rod passes through a second fixed guide block and points to a second electromagnet; A semi-circular through hole is respectively opened on the inner sides of the two upper sliders and the two lower sliders, and a semi-circular counterbore hole with the same center is opened at each semi-circular through hole; after the two upper sliders are fitted together, the corresponding two semi-circular counterbore holes form a first circular counterbore hole for placing the flange of the upper flange connector (10); after the two lower sliders are fitted together, the corresponding two semi-circular counterbore holes form a second circular counterbore hole for placing the flange of the lower flange connector (33); The first and second electromagnets are controlled by the central controller and the power supply compartment (38).

2. A suspension device, characterized in that, It includes a multi-rotor UAV (2), a floating balloon (1), a gas source (4), the quick-release mechanism (3) as described in claim 1, and a suspension mission cabin (39); the suspension mission cabin (39) is arranged on the multi-rotor UAV (2); The quick-release mechanism (3) further includes a pulley column (24), and the support plate (20) fixes the upper edge plate (25) of the pulley column (24) through a fixed buckle (22) and a movable buckle (23), and a third spring is connected between the movable buckle (23) and a third electromagnet at the corresponding position on the lower surface of the support plate (20); a ground mooring hook (32) is provided on the lower edge plate (30) of the pulley column (24); A central through hole is provided on both the fuselage of the multi-rotor UAV (2) and the support plate (20); the nozzle (9) of the floating balloon (1) and the upper flange connector (10) pass through the multi-rotor UAV (2), and the flange of the upper flange connector (10) is placed in the first circular counterbore hole; the flange of the lower flange connector (33) is placed in the second circular counterbore hole; The suspension mission cabin (39) is provided with a number of mission devices, and the third electromagnet and each mission device are controlled by a central controller and a power supply cabin (38).

3. A suspension device, characterized in that, It includes a multi-rotor unmanned aerial vehicle (2), a floating balloon (1), a gas source (4), a quick-release mechanism (3) as claimed in claim 1, and a suspension mission cabin (39); the suspension mission cabin (39) is arranged on the multi-rotor unmanned aerial vehicle (2); The quick-release mechanism (3) further includes a pulley column (24). The pallet (20) fixes the upper edge plate (25) of the pulley column (24) through a fixed buckle (22) and a movable buckle (23). A third spring is connected between the movable buckle (23) and the third electromagnet at the corresponding position on the lower surface of the pallet (20); a ground mooring hook (32) is provided on the lower edge plate (30) of the pulley column (24); a fixed pulley (28) is sleeved on the pulley column (24); a mooring rope (29) is wound around the fixed pulley (28); one end of the mooring rope (29) is fixedly connected to the fixed pulley (28), and the other end is fixed to the gas cylinder (36) through a crescent groove on the lower edge plate (30) of the pulley column (24); an electromagnetic positioning pin (31) and a first positioning hole matching the electromagnetic positioning pin (31) are further provided on the lower edge plate (30) of the pulley column (24); second positioning holes matching the electromagnetic positioning pin (31) are arranged in a circumferential array along the lower edge plate of the fixed pulley (28); Both the fuselage of the multi-rotor unmanned aerial vehicle (2) and the pallet (20) are provided with central through holes; the air nozzle (9) and the upper flange connector (10) of the floating balloon (1) pass through the multi-rotor unmanned aerial vehicle (2), and the flange of the upper flange connector (10) is placed in the first circular sunk hole; the flange of the lower flange connector (33) is placed in the second circular sunk hole; The gas source (4) includes a gas cylinder (36) and a solenoid valve (35) and a flexible connecting pipe (34) connected in sequence at its output end. The flexible connecting pipe (34) is connected to the lower flange connector (33); the central controller and the power supply cabin (38) control the on-off of the solenoid valve (35); The suspension mission cabin (39) is provided with a number of mission devices, and the electromagnetic positioning pin (31), the third electromagnet and each mission device are controlled by a central controller and a power supply cabin (38).

4. The installation method of the suspension device according to claim 2 or 3, characterized in that The specific steps of this installation method are as follows: Step 1: The central controller and the power supply cabin (38) control the first and second electromagnets to be energized, so that the two upper-layer sliders and the two lower-layer sliders are separated from each other against the spring force of the springs; Step 2: Fit the end faces of the upper flange connector (10) and the lower flange connector (33) together, and at the same time install their flanges in the first and second first circular sunk holes respectively; Step 3: The central controller and the power supply cabin (38) control the first and second electromagnets to be de-energized, so that the two upper-layer sliders and the two lower-layer sliders are fitted together under the action of the spring force of the springs, and at the same time clamp the flanges of the upper flange connector (10) and the lower flange connector (33); Step 4: Connect the air nozzle (9) of the floating balloon (1) to the upper flange connector (10), thereby realizing the assembly of the floating balloon (1) and the multi-rotor unmanned aerial vehicle (2); Step 5: Connect the output end of the gas source (4) to the lower flange connector (33), thereby realizing the assembly of the gas source (4) and the multi-rotor UAV (2).

5. A suspension device, characterized in that, It includes a multi-rotor UAV (2), a floating balloon (1), a gas source (4), a quick-release mechanism (3) as described in claim 1, a semi-open balloon compartment (37), and a suspension mission compartment (39); the suspension mission compartment (39) is arranged on the multi-rotor UAV (2); The quick-release mechanism (3) further includes a pulley column (24). The pallet (20) fixes the upper edge plate (25) of the pulley column (24) through a fixed buckle (22) and a movable buckle (23). A third spring is connected between the movable buckle (23) and a third electromagnet at the corresponding position on the lower surface of the pallet (20); a ground mooring hook (32) is arranged on the lower edge plate (30) of the pulley column (24); The floating balloon (1) includes multiple main body skins (7), a polymer-based thin film (5), an inflation pipe (8), and a nozzle (9). The side walls between adjacent main body skins (7) are connected. The top of each main body skin (7) is thermally bonded to the polymer-based thin film (5) to form a sphere; the inflation pipe (8) is placed inside the sphere. The top of the inflation pipe (8) is sealed with a constant-pressure rupture film (11) and bonded to the polymer-based thin film (5) with multiple reinforcing bands (6). The nozzle (9) is arranged at the bottom of the inflation pipe (8). The bottom of each main body skin (7) is thermally bonded to the nozzle (9) and the inflation pipe (8); the lower end of the nozzle (9) is connected to an upper flange connector (10), and the upper end is connected to a one-way valve (12). The one-way valve (12) is placed inside the inflation pipe (8); The closed end of the semi-open balloon compartment (37) is connected to the top of the fuselage of the multi-rotor UAV (2). The fuselage of the multi-rotor UAV (2), the semi-open balloon compartment (37), and the pallet (20) are all provided with central through holes; the nozzle (9) and the upper flange connector (10) of the floating balloon (1) pass through the semi-open balloon compartment (37) and the multi-rotor UAV (2), and the flange of the upper flange connector (10) is placed in the first circular counterbore; the flange of the lower flange connector (33) is placed in the second circular counterbore; Several mission devices are arranged in the suspension mission compartment (39). The third electromagnet and each mission device are controlled by a central controller and a power supply compartment (38).

6. A rapid deployment suspension device, characterized in that, It includes a multi-rotor UAV (2), a floating balloon (1), a gas source (4), a quick-release mechanism (3) as described in claim 1, a semi-open balloon compartment (37), and a suspension mission compartment (39); the suspension mission compartment (39) is arranged on the multi-rotor UAV (2); The quick-release mechanism (3) further includes a pulley column (24). The pallet (20) fixes the upper edge plate (25) of the pulley column (24) through a fixed buckle (22) and a movable buckle (23). A third spring is connected between the movable buckle (23) and a third electromagnet at a corresponding position on the lower surface of the pallet (20); a ground mooring hook (32) is provided on the lower edge plate (30) of the pulley column (24); a fixed pulley (28) is sleeved on the pulley column (24); a mooring rope (29) is wound around the fixed pulley (28); one end of the mooring rope (29) is fixedly connected to the fixed pulley (28), and the other end is fixed to the gas cylinder (36) through a crescent groove on the lower edge plate (30) of the pulley column (24); an electromagnetic positioning pin (31) and a first positioning hole matching the electromagnetic positioning pin (31) are further provided on the lower edge plate (30) of the pulley column (24); second positioning holes matching the electromagnetic positioning pin (31) are arranged in a circumferential array along the lower edge plate of the fixed pulley (28). The floating air balloon (1) includes multiple main body skins (7), a polymer-based thin film (5), an inflation pipe (8), and a nozzle (9). The side walls between adjacent main body skins (7) are connected. The top of each main body skin (7) is thermally bonded to the polymer-based thin film (5) to form a sphere; the inflation pipe (8) is placed inside the sphere. The top of the inflation pipe (8) is sealed with a constant-pressure rupture film (11) and bonded to the polymer-based thin film (5) with multiple reinforcing bands (6). The nozzle (9) is arranged at the bottom of the inflation pipe (8). The bottom of each main body skin (7) is thermally bonded to the nozzle (9) and the inflation pipe (8); the lower end of the nozzle (9) is connected to an upper flange connector (10), and the upper end is connected to a one-way valve (12). The one-way valve (12) is placed inside the inflation pipe (8). The closed end of the semi-open balloon cabin (37) is connected to the top of the fuselage of the multi-rotor UAV (2). The fuselage of the multi-rotor UAV (2), the semi-open balloon cabin (37), and the pallet (20) are all provided with central through holes; the nozzle (9) and the upper flange connector (10) of the floating air balloon (1) pass through the semi-open balloon cabin (37) and the multi-rotor UAV (2), and the flange of the upper flange connector (10) is placed in the first circular sunk hole; the flange of the lower flange connector (33) is placed in the second circular sunk hole. The gas source (4) includes a gas cylinder (36) and a solenoid valve (35) and a flexible connecting pipe (34) connected in sequence at its output end. The flexible connecting pipe (34) is connected to the lower flange connector (33); the central controller and the power supply cabin (38) control the on-off of the solenoid valve (35). Several mission devices are provided inside the suspension mission cabin (39). The electromagnetic positioning pin (31), the third electromagnet, and each mission device are controlled by the central controller and the power supply cabin (38).

7. The suspension device according to claim 6, characterized in that The sphere diameter D of the floating air balloon (1) balloon is obtained by solving the equation , where p and ρ air are the atmospheric pressure and atmospheric density at the suspension mission altitude respectively; ρ he is the volume density of helium gas under the condition of pressure p + 200 Pa; ρ skin is the average area density of the skin of the floating air balloon (1); m UAV,mass is the mass of the multi-rotor UAV (2) without battery; m UAV,p&c is the mass of the central controller and the power supply compartment (38); m UAV,load is the mass of the suspension mission compartment (39) when loading equipment; m lock is the mass of the quick-release mechanism (3); m balloon,app is the mass of the floating air balloon (1) except for the skin; m bottle is the mass of the gas cylinder (36), and b is the mooring coefficient; The top diameter of the inflation tube (8) is D = d + 2·l0 / l tube ·a, where d is the diameter at the bottom hot melt bonding position of the inflation tube (8) and the main body skin (7), l tube is the length of the inflation tube (8), a is the thickness of the inflation tube (8), l0 is the depth that the air nozzle (9) and the one-way valve (12) penetrate into the inside of the floating balloon (1), and l tube is an odd integer multiple of l0.

8. The installation method of the suspension device according to any one of claims 5 to 7, characterized in that, The specific steps of the installation method are as follows: Step 1: The central controller and the power supply cabin (38) control the first and second electromagnets to be energized, so that the two upper-layer sliders and the two lower-layer sliders are respectively separated against the spring force of the springs. Step 2: Fit the end faces of the upper flange connector (10) and the lower flange connector (33) together, and at the same time install the flanges of the two on the first and second first circular counterbore holes respectively; Step 3: The central controller and the power supply compartment (38) control the first and second electromagnets to be powered off, so that the two upper sliders and the two lower sliders fit together under the spring force of the springs, and at the same time clamp the flanges of the upper flange connector (10) and the lower flange connector (33); Step 4: Connect the nozzle (9) of the floating balloon (1) to the upper flange connector (10), thereby realizing the assembly of the floating balloon (1) and the multi-rotor UAV (2); Step 5: Connect the output end of the gas source (4) to the lower flange connector (33), thereby realizing the assembly of the gas source (4) and the multi-rotor UAV (2); Step 6: With the axis direction of the nozzle (9) and the one-way valve (12) as the center, stack the charging pipes (8) radially in a circular shape, stack the main body skin (7) axially, and then stack the floating balloon (1) in the semi-open balloon compartment (37); Step 7: Paste waterproof paper (41) at the open end of the semi-open balloon compartment (37) to seal the semi-open balloon compartment (37); among them, the waterproof paper (41) is provided with a tear guiding line (42).

9. The method for task execution of the suspension device according to claim 2 or 5, characterized in that, The specific steps of this task execution method are as follows: Step 1: The central controller and the power supply compartment (38) control the first and second electromagnets to be powered on, so that the two upper sliders and the two lower sliders are separated from each other against the spring force of the springs; Step 2: Fit the end faces of the upper flange connector (10) and the lower flange connector (33) together, and at the same time install the flanges of the two on the first and second first circular counterbore holes respectively; Step 3: The central controller and the power supply compartment (38) control the first and second electromagnets to be powered off, so that the two upper sliders and the two lower sliders fit together under the spring force of the springs, and at the same time clamp the flanges of the upper flange connector (10) and the lower flange connector (33); Step 4: Connect the ground mooring hook (32) to the ground mooring rope on the ground mooring rope winch, connect the nozzle (9) of the floating balloon (1) to the upper flange connector (10), and connect the output end of the gas source (4) to the lower flange connector (33), thereby realizing the inflation of the floating balloon (1) by the gas source (4); Step 6: After the floating balloon (1) is filled, the central controller and the power supply compartment (38) control the second electromagnet to be powered on, so that the two lower sliders are separated from each other against the spring force of the springs, and the lower flange connector (33) and the connected gas source (4) are released; Step 7: Release the floating balloon (1) and the connected multi-rotor UAV (2) through the ground mooring rope winch. If the floating balloon fails or the ground mooring rope breaks during the release process, go to Step 10, otherwise go to Step 8; Step 8: After the floating balloon (1) rises to the suspension task height, the task equipment in the suspension task compartment (39) starts to work. If the floating balloon fails or the ground mooring rope breaks during the work process, go to Step 10, otherwise go to Step 9; Step Nine: After the task equipment finishes working, the ground mooring winch retrieves the floating air balloon (1) and the connected multi-rotor UAV (2). If the floating air balloon fails or the ground mooring rope breaks during the retrieval process, go to Step Ten; otherwise, go to Step Fifteen. Step Ten: The central controller and the power supply compartment (38) control the third electromagnet (26) to be energized, driving the movable buckle (23) to further discard the pulley column (24). Step Eleven: The central controller and the power supply compartment (38) control the first electromagnet to be energized, so that the two upper sliders overcome the spring force of the spring and are in a separated state, discarding the upper flange connector (10) and the connected floating air balloon (1). Step Twelve: If the height of the multi-rotor UAV (2) from the ground is less than the set height threshold, start the power of the multi-rotor UAV, and go to Step Fourteen; otherwise, go to Step Thirteen. Step Thirteen: The multi-rotor UAV (2) free-falls until the height from the ground meets the set height threshold, and then starts the rotor power of the multi-rotor UAV (2). Step Fourteen: The multi-rotor UAV (2) returns to the base according to the command requirements, and the task execution ends. Step Fifteen: The floating air balloon (1) and the connected multi-rotor UAV (2) are retrieved through the ground mooring winch, and the task execution ends.

10. The method for task execution of the suspension device according to claim 3 or 6 or 7, characterized in that, The specific steps of this task execution method are as follows: Step One: The central controller and the power supply compartment (38) control the first and second electromagnets to be energized, so that the two upper sliders and the two lower sliders respectively overcome the spring force of the spring and are in a separated state. Step Two: Fit the end faces of the upper flange connector (10) and the lower flange connector (33) together, and at the same time install their flanges in the first and second first circular counterbore holes respectively. Step Three: The central controller and the power supply compartment (38) control the first and second electromagnets to be de-energized, so that the two upper sliders and the two lower sliders fit together under the action of the spring force of the spring, and at the same time clamp the flanges of the upper flange connector (10) and the lower flange connector (33). Step Four: Release or launch the multi-rotor UAV (2) in the air or on the ground, and perform hovering flight at the specified suspension task height and azimuth according to the command. Step Five: The central controller and the power supply compartment (38) control the solenoid valve (35) to open for air release, enabling the gas source (4) to inflate the floating air balloon (1). Step Six: After the floating air balloon (1) is fully inflated, the central controller and the power supply compartment (38) control the second electromagnet to be energized, so that the two lower sliders overcome the spring force of the spring and are in a separated state, releasing the lower flange connector (33) and the connected gas source (4). At the same time, under the action of its own gravity, the gas source (4) drives the fixed pulley (28) to rotate and releases the mooring rope (29). Step Seven: After Step Six starts to execute and after a first set time delay, the central controller and the power supply compartment (38) control the electromagnetic positioning pin (31) to lock into the second positioning hole on the lower edge plate of the fixed pulley (28). Step Eight: The multi-rotor UAV (2) shuts down the rotor power, and the task equipment in the suspension task compartment (39) starts to work. Step Nine: After the task device finishes its work, the central controller and the power supply compartment (38) control the third electromagnet (26) to be energized, driving the movable buckle (23) to discard the pulley column (24) and the fixed pulley (28); Step Ten: After Step Nine starts to execute and is delayed by the second set time, the central controller and the power supply compartment (38) control the first electromagnet to be energized, so that the two upper sliders overcome the spring force of the spring and are in a separated state, discarding the upper flange connector (10) and the floating air balloon (1) connected thereto; Step Eleven: After Step Ten starts to execute and is delayed by the third set time, the multi-rotor UAV (2) starts the rotor power and automatically returns to base according to the instruction.

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