Aerostat and airbag leakage detection method

Abstract

The invention relates to an aerostat and an air bag leakage detection method, a main air bag and an auxiliary air bag of the aerostat are each provided with an air interlayer, an air bag leakage detection hole and an exhaust valve integrated with a detection device, the air interlayers enable the air bags to have a heat preservation function and a leaked gas collection function, and the influence of external environment temperature changes on internal gas is relieved; a detection instrument is arranged at the air bag leakage detection hole to comprehensively measure bag body information, and the air bag leakage detection hole can relieve pressure for an air interlayer to avoid overlarge pressure in the interlayer; a detection device is integrated on the exhaust valve, so that whether the area where the exhaust valve is located leaks or not can be checked; the space in the main air bag is divided into at least two independent air chambers through the partition layer, even if one air chamber leaks, the other air chambers can still maintain buoyancy needed by flying of the aerostat to a certain extent, buffering time is provided for emergency treatment, each air chamber is provided with an independent main air bag integrated exhaust valve, and therefore the air bag integrated exhaust valve can be used for emergency treatment. Therefore, each air chamber can be independently controlled and detected, and the leaked air chamber can be quickly positioned.

Description

Technical Field

[0001] The present invention relates to the technical field of aerostats, and particularly relates to an aerostat and a method for detecting airbag leakage. Background Art

[0002] An aerostat generally refers to an aircraft that is lighter than air and relies on atmospheric buoyancy to ascend, including airships, high-altitude balloons, tethered balloons, etc.; among them, an airship is an aircraft that relies on a low-density gas (usually helium, and hydrogen is used in some designs) as the lifting gas to provide buoyancy, and has the characteristics of long hovering time, large effective payload, high safety factor, convenient operation and maintenance, etc. For a formed airship, to maintain a stable shape, the pressure difference between the inside and outside of the airbag is usually designed as a positive pressure difference, and the pressure difference range is generally between 100 and 1000 Pa, and most of them are concentrated between 100 and 500 Pa. For a soft airship, generally during flight, the total mass of helium in the main airbag is usually kept unchanged, and the height and attitude are adjusted through the combined action of adjusting the amount of air in the auxiliary airbag and the power device. Usually, when it is necessary to ascend, some air is discharged through the exhaust valve on the auxiliary airbag, and when it is necessary to descend, air is supplemented into the auxiliary airbag through a fan. The auxiliary control means also includes discharging a small amount of helium through the helium valve of the main airbag when the pressure of the main airbag exceeds the design value to maintain the structural safety of the main airbag. It can be seen that the airtight performance of the airship airbag directly affects the buoyancy level of the airship. Especially, the main airbag usually uses helium as the lifting gas, which is expensive. When a large amount of it leaks, it will cause waste of resources. Therefore, in the development of airships, parameters such as the helium leakage rate of the airship envelope material and the overall leakage amount of the airbag are usually restricted. Generally, the helium leakage rate of the envelope material is verified in the laboratory, and after passing the standard, the envelope is manufactured and used. Gas leakage mainly occurs in the following situations: gas leakage is likely to occur at positions such as the aging or damage of the envelope material itself, the docking or welds of different regions of the envelope, the installation openings of the fan or valve, etc. When the leakage amount exceeds the standard, it will affect the maximum flight height, effective payload and flight safety of the airship. Therefore, it is very necessary to monitor the airbag leakage of the airship in real time during flight, especially for airships with long-term hovering requirements, to ensure the flight safety of the airship. At present, the main methods for detecting airbag leakage of airships are gas leakage detection method, helium concentration detection method, acoustic method, and bubble method. These methods can basically meet the requirements for ground laboratory detection of envelope leakage, mainly verifying that the envelope leakage index of the airship meets the requirements, but they obviously cannot meet the engineering needs in terms of the detection effectiveness and positioning accuracy of the airship envelope leakage during flight.

[0003] In summary, the aging or damaged parts of the airship envelope material, the butt joints of the envelope material, and the openings of the fans or valves on the envelope are prone to envelope leakage, resulting in increased flight control difficulty and even affecting flight safety. Moreover, during the flight of the airship, there are problems such as difficult detection of airship envelope leakage and difficulty in quickly locating the leakage point. In particular, there is insufficient research on on-line detection and leakage warning prompts during flight. For airships with long-endurance in-air requirements, the adverse effects caused by leakage problems are more serious, which will affect the operational stability of the airship and the control of in-air altitude. Seriously, it will also lead to instability, burst of the envelope and other situations that seriously affect the operational safety of the airship.

[0004] Therefore, it is necessary to design an airship airbag and an airbag leakage detection method to facilitate leakage detection and rapid positioning of the leakage location for aerostats such as airships, especially for in-air aerostats to detect gas leakage and locate the leakage area. Summary of the Invention

[0005] The object of the present invention is to develop an aerostat and an airbag leakage detection method to solve the problem in the prior art that it is difficult to quickly detect the airbag of an aerostat (especially an in-air aerostat) during flight and locate the leakage position, and improve the safety of the aerostat.

[0006] The present invention is realized through the following technical solutions: An aerostat includes an airbag, a diaphragm is arranged inside the airbag, the diaphragm divides the airbag into a main airbag and a secondary airbag. The main airbag includes a main airbag inner bladder, a main airbag outer skin, and a first air interlayer located between the main airbag inner bladder and the main airbag outer skin. A main support member is arranged in the first air interlayer; an air chamber partition layer is arranged in the main airbag inner bladder, and at least two independent air chambers are separated in the main airbag inner bladder; Main airbag leakage detection holes are arranged on the main airbag outer skin, and a second helium concentration measuring instrument, a second pressure sensor, and a first temperature sensor are arranged at the main airbag leakage detection holes; Each air chamber is configured with an independent main airbag integrated exhaust valve, and the main airbag integrated exhaust valve includes a main airbag exhaust valve and a first helium concentration measuring instrument; The secondary airbag includes a secondary airbag inner bladder, a secondary airbag outer skin, a secondary airbag integrated exhaust valve, and a second air interlayer located between the secondary airbag inner bladder and the secondary airbag outer skin. A secondary support member is arranged in the second air interlayer; Secondary airbag leakage detection holes are arranged on the secondary airbag outer skin, and a third pressure sensor and a second temperature sensor are arranged at the secondary airbag leakage detection holes; The secondary airbag integrated exhaust valve includes a secondary airbag exhaust valve, a fan, and a first pressure sensor.

[0007] The beneficial effects of the above technical solution are as follows: In this solution, air interlayers, airbag leakage detection holes, and exhaust valves integrated with detection devices are provided on both the main airbag and the auxiliary airbag. Among them, the air interlayer enables the airbag to have a heat preservation function and also takes into account the function of collecting the leakage of the inner bladder, slowing down the influence speed of the gas inside the airbag by the change of the external environment temperature; a helium concentration measuring instrument, a pressure sensor, and a temperature sensor are arranged at the airbag leakage detection hole to comprehensively measure the information of the bladder body, so as to comprehensively judge whether the inner bladder leaks. When a large amount of gas leaks from the inner bladder, the airbag leakage detection hole can appropriately relieve the pressure of the interlayer, avoiding the damage of the inner and outer bladders caused by excessive pressure in the air interlayer; integrating a detection device on the exhaust valve helps to quickly check whether the area where the exhaust valve is located leaks; The space inside the main airbag is divided into at least two independent air chambers by a partition layer, and the gases between each air chamber are not connected. Even if a certain air chamber leaks, the other air chambers can still maintain the buoyancy required for the airship to fly to a certain extent, providing a buffer time for safe flight and emergency handling. Moreover, each air chamber is equipped with an independent main airbag integrated exhaust valve, so as to control and detect each air chamber separately, and can quickly identify the air chamber with abnormal conditions such as leakage, and quickly locate the leakage position.

[0008] In a possible implementation manner, the thickness of the first air interlayer is 10 mm to 20 mm, and the thickness of the second air interlayer is 10 mm to 20 mm. Within this range, the heat preservation performance is good and it does not affect the normal use of the airbag.

[0009] In a possible implementation manner, a number of main airbag leakage detection holes are provided on the outer skin of the main airbag; the diameter of the main airbag leakage detection hole is 10 mm to 15 mm, and the diameter of the auxiliary airbag leakage detection hole is 10 mm to 15 mm; setting a plurality of airbag leakage detection holes on the surface of the main airbag and respectively configuring detection devices can quickly identify the area where the airbag has abnormal conditions such as leakage, and quickly locate the leakage position.

[0010] In a possible implementation, the main airbag integrated exhaust valve includes a main airbag exhaust valve integrated on a main flange, and several first helium concentration measuring instruments, and the several first helium concentration measuring instruments are evenly distributed around the circumference of the main airbag exhaust valve for multi-point detection; the main airbag integrated exhaust valve controls the gas in the air chamber of the inner bladder of the main airbag to be discharged from the main airbag, and the main airbag integrated exhaust valve is also connected to the inner bladder and the outer skin of the main airbag; the auxiliary airbag integrated exhaust valve includes an auxiliary airbag exhaust valve integrated on an auxiliary flange, several air blowers, and several first pressure sensors, and the several air blowers and several first pressure sensors are evenly distributed around the circumference of the auxiliary airbag exhaust valve for multi-point detection; the auxiliary airbag integrated exhaust valve is simultaneously connected to the outer skin and the inner bladder of the auxiliary airbag, and the auxiliary airbag integrated exhaust valve also functions to connect the inner bladder and the outer skin of the auxiliary airbag, and the auxiliary airbag integrated exhaust valve controls the gas in the inner bladder of the auxiliary airbag to be discharged from the auxiliary airbag.

[0011] Integrating the exhaust valve and the helium concentration measuring instrument on one flange, and installing the flange at the opening of the airbag for installing the main airbag exhaust valve can not only reduce the openings of the airbag, reduce the leakage risk, but also facilitate the weight reduction design of the airship.

[0012] In a possible implementation, a first stress-strain sensor is provided on the air chamber partition layer, and a second stress-strain sensor is provided on the diaphragm between the main airbag and the auxiliary airbag; a third stress-strain sensor, a fourth pressure sensor for detecting the internal pressure of the inner bladder of the main airbag, and a third temperature sensor for detecting the internal temperature of the inner bladder of the main airbag are provided on the inner bladder of the main airbag; a third pressure sensor and a second temperature sensor are provided at the leakage detection hole of the auxiliary airbag; a fourth stress-strain sensor, a fifth pressure sensor for detecting the internal pressure of the inner bladder of the auxiliary airbag, and a fourth temperature sensor for detecting the internal temperature of the inner bladder of the auxiliary airbag are provided on the inner bladder of the auxiliary airbag to further detect the changes of the internal indicators of the airbag and provide a basis for judging airbag leakage.

[0013] The present invention also provides an airbag leakage detection method, which can be applied to the airship as described above, and includes the following steps: Step 1: Collect the detection values of all helium concentration measuring instruments, stress-strain sensors, pressure sensors, and temperature sensors in the airship. Step 2: According to the detection values in Step 1, combined with the airbag leakage judgment conditions, perform airbag leakage judgment. The airbag leakage judgment conditions include the main airbag leakage judgment conditions, and the main airbag leakage judgment conditions include the following steps: S1. If the first main airbag main judgment condition is met: the current measured helium concentration value of the first helium concentration measuring instrument on the main airbag integrated exhaust valve or the second helium concentration measuring instrument at the main airbag leakage detection hole is greater than 1%, it is determined that there is a leakage in the main airbag, and proceed to step three; if the first main airbag main judgment condition is not met, proceed to S2; S2. If the second main airbag main judgment condition is met: A certain air chamber in the inner bladder of the main airbag simultaneously meets: (a) The ratio of the current measured strain value of the third stress-strain sensor on the inner bladder of the main airbag to the previously measured strain value ranges from 1.5 to 3, and (b) the deviation between the current measured pressure value of the fourth pressure sensor in this air chamber and the internal pressure setting value under the normal state of the inner bladder of the main airbag is 5 to 10 Pa. It is determined that there is a leakage in the main airbag and proceed to step three; if the second main airbag main judgment condition is not met, proceed to S3; S3. If the first main airbag auxiliary judgment condition is met: the current measured pressure value of the second pressure sensor at the main airbag leakage detection hole exceeds the external environmental pressure value of the aerostat by 50 Pa or more, it is determined that there is a leakage in the main airbag and proceed to step three; if the first main airbag auxiliary judgment condition is not met, proceed to S4; S4. If the second main airbag auxiliary judgment condition is met: the ratio of the current measured strain value of the third stress-strain sensor on the inner bladder of the main airbag to the previously measured strain value of any air chamber is greater than 3, it is determined that there is a leakage in the main airbag and proceed to step three; if the second main airbag auxiliary judgment condition is not met, proceed to S5; S5. If the third main airbag auxiliary judgment condition is met: the deviation between the current measured pressure value of the fourth pressure sensor in any air chamber and the internal pressure setting value under the normal state of the inner bladder of the main airbag is greater than 10 Pa, it is determined that there is a leakage in the main airbag and proceed to step three; if the third main airbag auxiliary judgment condition is not met, proceed to S6; S6. If the fourth main airbag auxiliary judgment condition is met: the difference between the current measured temperature value of the first temperature sensor at the main airbag leakage detection hole and the internal temperature setting value under the normal state of the inner bladder of the main airbag is 1 to 2 °C, it is determined that there may be a leakage in the main airbag and proceed to step three; Step three: According to the determination result of step two, when it is judged that there is a leakage, an alarm prompt is sent through the alarm device, and when it is judged that there may be a leakage, a general prompt is sent through the alarm device (reminding the operator to pay attention to the values of other detection instruments and manually judge whether there is a leakage hazard), so as to facilitate the operator to quickly discover the leakage according to the detection information of the instrument and adjust the dynamics of the aerostat.

[0014] The above-mentioned airbag leakage detection method can be applied to airships, high-altitude balloons, and tethered balloons to detect and judge the air leakage of the airbag. It not only greatly improves the probability of effectively detecting the leakage of the main airbag (by detecting with a variety of detection instruments and based on a variety of judgment conditions, the leakage detection probability can be maximally improved), but also helps to quickly locate the leakage area (judging the leakage position based on the position of the detection instrument. For example, if the strain force of a certain air chamber in the main airbag changes violently and meets the leakage judgment conditions, the leakage area is located in this air chamber).

[0015] In a possible implementation manner, in step two of the present airbag leakage detection method, the airbag leakage judgment conditions further include the leakage judgment conditions of the auxiliary airbag, and the leakage judgment conditions of the auxiliary airbag include the following steps: T1. If the first main judgment condition of the auxiliary airbag is satisfied: the pressure value currently measured by the third pressure sensor at the airbag leakage detection hole or the first pressure sensor at the integrated exhaust valve of the auxiliary airbag exceeds the external environmental pressure value of the aerostat by 50 Pa or more, it is determined that the auxiliary airbag has a leakage, and step three is entered; if the first main judgment condition of the auxiliary airbag is not satisfied, T2 is entered; T2. If the second main judgment condition of the auxiliary airbag is satisfied: (a) The ratio of the strain value currently measured by the fourth stress-strain sensor on the inner bladder of the auxiliary airbag to the strain value measured previously ranges from 1.5 to 3, and (b) the deviation between the pressure value currently measured by the fifth pressure sensor inside the inner bladder of the auxiliary airbag and the internal pressure set value in the normal state of the auxiliary airbag is 5 to 10 Pa, it is determined that the auxiliary airbag has a leakage, and step three is entered; if the second main judgment condition of the auxiliary airbag is not satisfied, T3 is entered; T3. If the first auxiliary judgment condition of the auxiliary airbag is satisfied: the ratio of the strain value currently measured by the fourth stress-strain sensor on the inner bladder of the auxiliary airbag to the strain value measured previously is greater than 3, it is determined that the auxiliary airbag has a leakage, and step three is entered; if the first auxiliary judgment condition of the auxiliary airbag is not satisfied, T4 is entered; T4. If the second auxiliary judgment condition of the auxiliary airbag is satisfied: the deviation between the pressure value currently measured by the fifth pressure sensor inside the inner bladder of the auxiliary airbag and the internal pressure set value of the inner bladder of the auxiliary airbag in the normal state is greater than 10 Pa, or at least two fifth pressure sensors are arranged inside the inner bladder of the auxiliary airbag, and when the pressure value difference between any two fifth pressure sensors currently measured is greater than 10 Pa, it is determined that the auxiliary airbag has a leakage, and step three is entered; if the second auxiliary judgment condition of the auxiliary airbag is not satisfied, T5 is entered; T5. If the third auxiliary airbag leakage judgment condition is met: the difference between the temperature value measured by the second temperature sensor at the airbag leakage detection hole and the internal temperature setting value of the airbag inner bladder in the normal state is 1-2 °C, it is determined that the airbag may be leaking, and proceed to step three; it is necessary to pay attention to the detection values of other detection instruments and manually check for leakage hazards.

[0016] The above pressure setting value and temperature setting value are both preset values of the airship control system. The specific values of the preset values are related to factors such as the flight state of the airship and the airship model. The setting of the preset values is a conventional technology in this field. How to set the preset values is not the innovation point of the present invention and will not be limited here.

[0017] Combining the above airbag leakage judgment conditions with the main airbag leakage judgment conditions, the leakage of the entire airbag can be judged based on the detection values of the detection instruments, and the airbag leakage can be detected in time.

[0018] In a possible implementation manner, in step two of the above airbag leakage detection method, the airbag leakage judgment condition further includes an air chamber partition leakage judgment condition, and the air chamber partition leakage judgment condition includes the following steps: A1. If the ratio of the strain value currently measured by the first stress-strain sensor on the air chamber partition to the strain value measured previously is greater than 1.5, it is determined that the air chamber partition is leaking, and proceed to step three; judging the leakage of the air chamber partition is beneficial to timely detecting the stress change of the air chamber partition inside the main airbag. A drastic stress change or leakage of the air chamber partition inside the airbag does not necessarily mean that the main airbag leaks to the outside. However, when the air chamber partition leaks, there is probably an abnormality inside the main airbag. Moreover, the air chamber partition isolates each air chamber. Even if a certain air chamber leaks, other air chambers can still maintain the buoyancy required for the airship flight to a certain extent, reducing the risk caused by leakage. If the air chamber partition leaks, the effect of reducing the risk brought by the independent air chamber will disappear.

[0019] In a possible implementation manner, in step two of the above airbag leakage detection method, the airbag leakage judgment condition further includes a diaphragm leakage judgment condition, and the diaphragm leakage judgment condition includes the following steps: B1. If the ratio of the strain value currently measured by the second stress-strain sensor on the diaphragm to the strain value measured previously is greater than 1.5, it is determined that the diaphragm is leaking, and proceed to step three; judging the diaphragm leakage is beneficial to timely and accurately detecting the internal changes of the entire airbag and adjusting the dynamics of the airship or controlling the airship to land in time when the stress changes abnormally.

[0020] In a possible implementation manner, in step three of the above-mentioned airbag leakage detection method, the warning device issues a warning prompt only when the aerostat is in a cruising state, and the cruising state is: after the aerostat completes the altitude climb, it maintains a state of horizontal, uniform, and straight flight motion, and the cruising state ends when the aerostat starts to descend. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A side view of the aerostat airbag provided in one embodiment of the present invention; Figure 2 is Figure 1 A schematic diagram of the layout of the main airbag exhaust valve integration device and the helium concentration measuring instrument in Figure 3 is Figure 1 A schematic diagram of the layout of the auxiliary airbag exhaust valve integration device and the pressure sensor in Figure 4 is Figure 1 A schematic diagram of the relative positions of the sensors at the main airbag leakage detection holes in Figure 5 is Figure 1 A schematic diagram of the relative positions of the sensors at the auxiliary airbag leakage detection holes in Figure 6 is Figure 1 A schematic diagram of the layout of the stress and strain sensors on the main airbag partition layer in Figure 7 is Figure 1 A schematic diagram of the layout of the stress and strain sensors on the partition membrane between the main and auxiliary airbags in Figure 8 is Figure 1 A schematic diagram of the layout of the stress and strain sensors on the inner bladder of the main airbag (top view) in Figure 9 is Figure 1 A schematic diagram of the layout of the stress and strain sensors on the inner bladder of the auxiliary airbag (top view) in Figure 10 is Figure 1 A schematic diagram of the layout of the temperature sensors and pressure sensors in each region of the main and auxiliary airbags (side view) in Figure 11 is Figure 1 A schematic diagram of the layout of the temperature sensors and pressure sensors in each region of the main airbag (top view) in Figure 12 is Figure 1 A schematic diagram of the layout of the temperature sensors and pressure sensors in the auxiliary airbag (top view) in Figure 13 A logic diagram for judging gas leakage of the airship airbag provided in Embodiment 4 of the present invention.

[0022] Wherein: 1. Outer skin of the main airbag; 2. Leak detection hole of the main airbag; 3. Main support member; 4. Inner bladder of the main airbag; 5. First air chamber partition layer; 6. Second air chamber partition layer; 7. Diaphragm; 8. Integrated exhaust valve of the main airbag; 81. Exhaust valve of the main airbag; 82. Main flange; 83. First helium concentration measuring instrument; 9. Inner bladder of the auxiliary airbag; 10. Outer skin of the auxiliary airbag; 11. Leak detection hole of the auxiliary airbag; 12. Integrated exhaust valve of the auxiliary airbag; 121. Exhaust valve of the auxiliary airbag; 122. Fan; 123. Auxiliary flange; 124. First pressure sensor; 13. Auxiliary support member; 14. Second helium concentration measuring instrument; 15. Second pressure sensor; 16. First temperature sensor; 17. Third pressure sensor; 18. Second temperature sensor; 19. First stress and strain sensor; 20. Second stress and strain sensor; 21. Third stress and strain sensor; 22. Fourth stress and strain sensor; 23. Fourth pressure sensor; 24. Third temperature sensor; 25. Fifth pressure sensor; 26. Fourth temperature sensor. Detailed implementation manners

[0023] First of all, those skilled in the art should understand that the following implementation manners are only used to explain the technical principle of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments according to needs to adapt to specific application scenarios.

[0024] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0025] In the embodiments of the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is at a lower horizontal height than the second feature.

[0026] To make the objectives, features and advantages of the present invention more obvious and understandable, the following detailed description of specific embodiments will be given with reference to the accompanying drawings.

[0027] Embodiment 1: AsFigures 1 to 12 As shown in Figures 1 to 12 , an aerostat includes an airbag. A diaphragm 7 is provided inside the airbag, and the diaphragm 7 divides the airbag into a main airbag and a secondary airbag. The main airbag includes an inner main airbag body 4, an outer main airbag skin 1, and a first air interlayer located between the inner main airbag body 4 and the outer main airbag skin 1. A main support member 3 is provided in the first air interlayer; an air chamber partition layer is provided in the inner main airbag body 4, and at least two independent air chambers are separated in the inner main airbag body 4; Main airbag leakage detection holes 2 are provided on the outer main airbag skin 1, and a second helium concentration measuring instrument 14, a second pressure sensor 15, and a first temperature sensor 16 are provided at the main airbag leakage detection holes 2; Each air chamber is equipped with an independent main airbag integrated exhaust valve 8. The main airbag integrated exhaust valve 8 includes a main airbag exhaust valve 81 integrated on a main flange 82 and several first helium concentration measuring instruments 83; in this embodiment, the medium in the inner main airbag body 4 is helium, and other lighter-than-air lifting gases can also be used according to actual design. Just replace the helium concentration measuring instrument with the corresponding lifting gas concentration measuring instrument, and such replacement is regarded as equivalent replacement.

[0028] The secondary airbag includes an inner secondary airbag body 9, an outer secondary airbag skin 10, a secondary airbag integrated exhaust valve 12, and a second air interlayer located between the inner secondary airbag body 9 and the outer secondary airbag skin 10. A secondary support member 13 is provided in the second air interlayer; Secondary airbag leakage detection holes 11 are provided on the outer secondary airbag skin 10, and a third pressure sensor 17 and a second temperature sensor 18 are provided at the secondary airbag leakage detection holes 11; The secondary airbag integrated exhaust valve 12 includes a secondary airbag exhaust valve 121 integrated on a secondary flange 123, several fans 122, and several first pressure sensors 124.

[0029] Air interlayers, airbag leakage detection holes, and exhaust valves integrated with detection devices are provided on both the main airbag and the secondary airbag. Among them, the air interlayer enables the airbag to have a heat preservation function and also takes into account the function of collecting inner bag body leakage, slowing down the influence speed of the internal gas by the external environment temperature change; helium concentration measuring instruments, pressure sensors, and temperature sensors are provided at the airbag leakage detection holes to comprehensively measure the airbag body information. When a large amount of gas leaks from the inner bag body, the airbag leakage detection holes can appropriately relieve the pressure of the interlayer to avoid damage to the inner and outer bag bodies caused by excessive pressure in the air interlayer; integrating the detection device on the exhaust valve helps to timely check whether the area where the exhaust valve is located leaks; The space inside the main airbag is divided into at least two independent air chambers by a partition layer, and the gases between each air chamber are not connected. Even if a certain air chamber leaks, the other air chambers can still maintain the buoyancy required for the airship to fly to a certain extent, providing a buffer time for safe flight and emergency handling. Moreover, each air chamber is equipped with an independent main airbag integrated exhaust valve, so as to control and detect each air chamber separately, and can quickly identify the air chamber with abnormal conditions such as leakage, and quickly locate the leakage position.

[0030] Further, the thickness of the first air interlayer is 10 mm to 20 mm, and the thickness of the second air interlayer is 10 mm to 20 mm.

[0031] Further, a number of main airbag leakage detection holes 2 are provided on the outer skin 1 of the main airbag; the diameter of the main airbag leakage detection holes 2 is 10 mm to 15 mm, and the diameter of the sub-airbag leakage detection holes 11 is 10 mm to 15 mm; by setting a plurality of uniformly distributed main airbag leakage detection holes 2 on the surface of the main airbag and respectively configuring detection devices, the area where the airbag has abnormal conditions such as leakage can be quickly identified. For example, when the helium gas in a certain air chamber leaks, the second helium concentration measuring instrument 14 located at the main airbag leakage detection hole 2 near it can quickly detect the change in helium concentration and quickly locate the leakage position.

[0032] Further, in the main airbag integrated exhaust valve 8, a number of first helium concentration measuring instruments 83 are annularly and uniformly distributed around the circumference of the main airbag exhaust valve 81. The main airbag integrated exhaust valve 8 is simultaneously connected to the outer skin 1 of the main airbag and the inner bladder 4 of the main airbag, and the main airbag integrated exhaust valve 8 controls the gas in the air chamber of the inner bladder 4 of the main airbag to be discharged from the main airbag; in the sub-airbag integrated exhaust valve 12, a number of fans 122 and a number of first pressure sensors 124 are annularly and uniformly distributed around the circumference of the sub-airbag exhaust valve 121. The sub-airbag integrated exhaust valve 12 is simultaneously connected to the outer skin 10 of the sub-airbag and the inner bladder 9 of the sub-airbag, and the sub-airbag integrated exhaust valve 12 controls the gas in the inner bladder 9 of the sub-airbag to be discharged from the sub-airbag.

[0033] Further, a first stress-strain sensor 19 is provided on the air chamber partition layer, and a second stress-strain sensor 20 is provided on the diaphragm 7 between the main airbag and the sub-airbag; a third stress-strain sensor 21, a fourth pressure sensor 23 for detecting the internal pressure of the inner bladder 4 of the main airbag, and a third temperature sensor 24 for detecting the internal temperature of the inner bladder 4 of the main airbag are provided on the inner bladder 4 of the main airbag; a third pressure sensor 17 and a second temperature sensor 18 are provided at the sub-airbag leakage detection hole 11; a fourth stress-strain sensor 22, a fifth pressure sensor 25 for detecting the internal pressure of the inner bladder 9 of the sub-airbag, and a fourth temperature sensor 26 for detecting the internal temperature of the inner bladder 9 of the sub-airbag are provided on the inner bladder 9 of the sub-airbag.

[0034] The stress of the airbag body can be expressed as a function of the flight altitude and the pressure difference between the inside and outside of the airbag. For the stress of the inner bodies of the main airbag and the auxiliary airbag, the stress mathematical model functions can both be expressed as σ = f(h, ΔP), where h represents the flight altitude of the aerostat, and ΔP is the pressure difference between the inside and outside of the main airbag or the auxiliary airbag, and its value usually ranges within a certain range (100~1000 Pa). When the flight altitude is constant, the stress σ of the inner bodies of the main airbag and the auxiliary airbag is in a monotonic relationship with the pressure difference ΔP between the inside and outside of the airship body; therefore, the stress detection value can be used as one of the judgment bases for airbag leakage.

[0035] Embodiment 2: An airbag leakage detection method, which can be applied to the aerostat described in Embodiment 1, includes the following steps: Step 1: Collect the detection values of all helium concentration measuring instruments, stress and strain sensors, pressure sensors, and temperature sensors inside the aerostat; Step 2: Based on the detection values in Step 1, combined with the airbag leakage judgment conditions, perform airbag leakage judgment. The airbag leakage judgment conditions include the main airbag leakage judgment conditions, and the main airbag leakage judgment conditions include the following steps: S1. If the first main airbag main judgment condition is met: the current measured helium concentration value of the first helium concentration measuring instrument 83 on the main airbag integrated exhaust valve 8 or the second helium concentration measuring instrument 14 at the main airbag leakage detection hole 2 is greater than 1%, it is determined that the main airbag has a leakage, and go to Step 3; if the first main airbag main judgment condition is not met, go to S2; S2. If the second main airbag main judgment condition is met: A certain air chamber in the inner body 4 of the main airbag simultaneously meets: (a) The ratio of the current measured strain value of the third stress and strain sensor 21 on the inner body 4 of the main airbag to the previously measured strain value ranges from 1.5 to 3, (b) the deviation between the current measured pressure value of the fourth pressure sensor 23 in this air chamber and the internal pressure set value in the normal state of the inner body 4 of the main airbag is 5~10 Pa, It is determined that the main airbag has a leakage, and go to Step 3; if the second main airbag main judgment condition is not met, go to S3; S3. If the first main airbag auxiliary judgment condition is met: the current measured pressure value of the second pressure sensor 15 at the main airbag leakage detection hole 2 exceeds the external environmental pressure value of the aerostat by 50 Pa or more, it is determined that the main airbag has a leakage, and go to Step 3; if the first main airbag auxiliary judgment condition is not met, go to S4; S4. If the second main airbag auxiliary judgment condition is met: the ratio of the strain value currently measured by the third stress and strain sensor 21 on the inner bladder 4 of the main airbag in any air chamber to the strain value measured in the previous measurement is greater than 3, it is determined that there is a leak in the main airbag, and proceed to step three; if the second main airbag auxiliary judgment condition is not met, proceed to S5; S5. If the third main airbag auxiliary judgment condition is met: the deviation between the pressure value currently measured by the fourth pressure sensor 23 in any air chamber and the internal pressure set value of the inner bladder 4 of the main airbag under normal conditions is greater than 10 Pa, it is determined that there is a leak in the main airbag, and proceed to step three; if the third main airbag auxiliary judgment condition is not met, proceed to S6; S6. If the fourth main airbag auxiliary judgment condition is met: the difference between the temperature value currently measured by the first temperature sensor 16 at the main airbag leak detection hole 2 and the internal temperature set value of the inner bladder of the main airbag under normal conditions is 1 - 2 °C, it is determined that there may be a leak in the main airbag, and proceed to step three; Step three: According to the determination result of step two, when it is determined that there is a leak, an alarm prompt is sent through the alarm device, and when it is determined that there may be a leak, a general prompt is sent through the alarm device, which is convenient for the operator to quickly discover the leak according to the alarm prompt of the instrument and adjust the dynamics of the aerostat. When there may be a leak, a general prompt is sent to remind the operator to pay attention to the detection values of each detection instrument in time and manually judge whether there is a leak hazard or other faults.

[0036] The above airbag leak detection method can be applied to airships, high-altitude balloons, and tethered balloons to detect and judge the gas leak of the airbag, which not only greatly improves the probability of effectively detecting the leak of the bladder, but also helps to quickly locate the leak area.

[0037] Furthermore, in step two of the present airbag leak detection method, the airbag leak judgment condition further includes the sub-airbag leak judgment condition, and the sub-airbag leak judgment condition includes the following steps: T1. If the first sub-airbag main judgment condition is met: the pressure value currently measured by the third pressure sensor 17 at the sub-airbag leak detection hole 11 or the first pressure sensor 124 at the sub-airbag integrated exhaust valve 12 exceeds the external environmental pressure value of the aerostat by 50 Pa or more, it is determined that there is a leak in the sub-airbag, and proceed to step three; if the first sub-airbag main judgment condition is not met, proceed to T2; T2. If the second sub-airbag main judgment condition is met: (a) The range of the ratio of the strain value currently measured by the fourth stress and strain sensor 22 on the inner bladder 9 of the sub-airbag to the strain value measured in the previous measurement is 1.5 - 3, and, (b) the deviation between the pressure value currently measured by the fifth pressure sensor 25 inside the inner bladder 9 of the sub-airbag and the internal pressure set value of the sub-airbag under normal conditions is 5 - 10 Pa, If it is determined that the secondary airbag leaks, go to Step 3; if the main judgment condition for the second secondary airbag is not satisfied, go to T3; T3. If the first auxiliary judgment condition for the secondary airbag is satisfied: the ratio of the strain value currently measured by the fourth stress-strain sensor 22 on the inner bladder 9 of the secondary airbag to the strain value measured previously is greater than 3, it is determined that the secondary airbag leaks, and go to Step 3; if the first auxiliary judgment condition for the secondary airbag is not satisfied, go to T4; T4. If the second auxiliary judgment condition for the secondary airbag is satisfied: the deviation between the pressure value currently measured by the fifth pressure sensor 25 inside the inner bladder 9 of the secondary airbag and the internal pressure set value in the normal state of the inner bladder 9 of the secondary airbag is greater than 10 Pa, or at least two fifth pressure sensors 25 are arranged inside the inner bladder 9 of the secondary airbag, and the pressure value difference between any two fifth pressure sensors 25 currently measured inside the inner bladder 9 of the secondary airbag is greater than 10 Pa, it is determined that the secondary airbag leaks, and go to Step 3; if the second auxiliary judgment condition for the secondary airbag is not satisfied, go to T5; T5. If the third auxiliary judgment condition for the secondary airbag is satisfied: the difference between the temperature value currently measured by the second temperature sensor 18 at the airbag leakage detection hole 11 and the internal temperature set value in the normal state of the inner bladder 9 of the secondary airbag is 1 - 2 °C, it is determined that the secondary airbag may leak, and go to Step 3.

[0038] The above secondary airbag leakage judgment conditions combined with the main airbag leakage judgment conditions can detect the leakage of the entire airbag.

[0039] Furthermore, in Step 2 of the above airbag leakage detection method, the airbag leakage judgment conditions further include the leakage judgment conditions of the air chamber partition, and the leakage judgment conditions of the air chamber partition include the following steps: A1. If the ratio of the strain value currently measured by the first stress-strain sensor 19 on the air chamber partition to the strain value measured previously is greater than 1.5, it is determined that there is a leakage in the air chamber partition, and go to Step 3.

[0040] Furthermore, in Step 2 of the above airbag leakage detection method, the airbag leakage judgment conditions further include the leakage judgment conditions of the diaphragm, and the leakage judgment conditions of the diaphragm include the following steps: B1. If the ratio of the strain value currently measured by the second stress-strain sensor 20 on the diaphragm 7 to the strain value measured previously is greater than 1.5, it is determined that the diaphragm 7 leaks, and go to Step 3.

[0041] Furthermore, in Step 3 of the airbag leakage detection method, the warning device issues a warning prompt only when the aerostat is in the cruising state, and the cruising state is: after the aerostat completes the altitude climb, it maintains a horizontal, uniform, and straight flight motion state, and the cruising state ends when the aerostat starts to descend.

[0042] Embodiment 3: An airship (belonging to the category of aerostats), the airship includes an airbag, and a diaphragm 7 is provided inside the airbag, and the diaphragm 7 divides the airbag into a main airbag and a secondary airbag; The main airbag includes a main airbag outer skin 1, main airbag leakage detection holes 2 provided on the main airbag outer skin 1, an air interlayer and main support members 3 provided between the main airbag outer skin 1 and the inner bladder 4, a main airbag inner bladder 4, a first air chamber partition layer 5 and a second air chamber partition layer 6 provided in the main airbag inner bladder 4. The first air chamber partition layer 5 and the second air chamber partition layer 6 divide the inside of the main airbag inner bladder 4 into three independent air chambers, and each independent air chamber is provided with a main airbag integrated exhaust valve 8. The main airbag integrated exhaust valve 8 includes a main airbag exhaust valve 81, a main flange 82, and a first helium concentration measuring instrument 83; A second helium concentration measuring instrument 14, a second pressure sensor 15, and a first temperature sensor 16 are provided at the main airbag leakage detection holes 2; a first stress and strain sensor 19 is provided on the main airbag partition layer, and a second stress and strain sensor 20 is provided on the diaphragm 7 between the main and secondary airbags; a third stress and strain sensor 21 is provided on the main airbag inner bladder, and a fourth pressure sensor 23 and a third temperature sensor 24 are provided inside the main airbag inner bladder.

[0043] The secondary airbag includes a secondary airbag inner bladder 9, a secondary airbag outer skin 10, a second air interlayer and secondary support members 13 provided between the secondary airbag outer skin 10 and the secondary airbag inner bladder 9, secondary airbag leakage detection holes 11 provided on the secondary airbag outer skin 10, and a secondary airbag integrated exhaust valve 12; The secondary airbag outer skin 10 includes a secondary airbag exhaust valve 121, a blower 122, a secondary flange 123, and a first pressure sensor 124. A third pressure sensor 17 and a second temperature sensor 18 are provided at the secondary airbag leakage detection holes 11; a fourth stress and strain sensor 22 is provided on the secondary airbag inner bladder 9; a fifth pressure sensor 25 and a fourth temperature sensor 26 are provided inside the secondary airbag inner bladder 9.

[0044] In this embodiment, for the convenience of detecting and positioning the leakage of the bladder, the main airbag inner bladder is composed of three air chambers, separated by the first air chamber partition layer 5 and the second air chamber partition layer 6. In actual design, the number of air chambers in the main airbag is designed according to the actual size of the whole airship and the design requirements of leakage detection. The value in this embodiment is 3, which is only used for the description of the structure and detection method.

[0045] The thickness of the air interlayer between the main airbag outer skin 1 and the main airbag inner bladder 4 is ensured by the main support members 3. The preferred value of the interlayer thickness is between 10 mm and 20 mm, and the specific size is subject to actual requirements.

[0046] The shape of the main airbag leakage detection hole 2 for detecting the leakage of the main airbag floating gas on the outer skin 1 of the main airbag is a round hole, and the preferred value of its diameter is between 10 mm and 20 mm. The specific dimensions shall be subject to actual requirements.

[0047] Each main airbag integrated exhaust valve 8 is composed of a main airbag exhaust valve 81 and six first helium concentration measuring instruments 83 evenly distributed around the circumference of the main airbag exhaust valve 81, which are integrated on the main flange 82 and arranged at the corresponding position of the main airbag in a riveting form. The main airbag integrated exhaust valve 8 is simultaneously connected to the inner bladder 4 of the main airbag and the outer skin 1 of the main airbag. Specifically, the openings on the inner bladder 4 of the main airbag and the outer skin 1 of the main airbag are of the same size, and the main flange 82 connects the two openings simultaneously, enabling the main airbag exhaust valve 81 to ventilate. When exhausting, the gas in the air chamber is discharged to the outside of the outer skin 10 of the auxiliary airbag.

[0048] Each auxiliary airbag integrated exhaust valve 12 is composed of an auxiliary airbag exhaust valve 121, six blowers 122 and six first pressure sensors 124 evenly distributed around the circumference of the auxiliary airbag exhaust valve 121, which are integrated on an auxiliary flange 123 and arranged on the corresponding auxiliary airbag in a riveting form. The auxiliary airbag integrated exhaust valve 12 is simultaneously connected to the inner bladder 9 of the auxiliary airbag and the outer skin 10 of the auxiliary airbag. Specifically, the openings on the inner bladder 9 of the auxiliary airbag and the outer skin 10 of the auxiliary airbag are of the same size, and the auxiliary flange 123 connects the two openings simultaneously, enabling the auxiliary airbag exhaust valve 121 to ventilate. When exhausting, the gas in the inner bladder 9 of the auxiliary airbag is discharged to the outside of the outer skin 10 of the auxiliary airbag.

[0049] The above structural design can reduce the risk of bladder leakage, reduce the number of openings for equipment and various sensors on the main and auxiliary airbags, integrate the main airbag exhaust valve 81 for fine-tuning the helium pressure in the main airbag, six first helium concentration measuring instruments 83 for detecting the temperature around the exhaust valve, and the main flange 82 into the main airbag integrated exhaust valve 8, and fix the main airbag integrated exhaust valve 8 on the main airbag in a riveting or bonding form; integrate the blower 122 for adjusting the air pressure and air volume in the auxiliary airbag, the auxiliary airbag exhaust valve 121, the auxiliary flange 123, and six first pressure sensors 124 for detecting the temperature around the exhaust valve and the blower on the auxiliary airbag integrated exhaust valve 12, and fix the auxiliary airbag integrated exhaust valve 12 on the auxiliary airbag in a riveting or bonding form.

[0050] Example 4: As Figure 13 shown, a method for detecting airbag leakage can be applied to the airship described in Example 3; This detection method depends on the following layout scheme of detection instruments: Inside the inner bladder 4 of the main airbag of the airship, a fourth pressure sensor 23 and a third temperature sensor 24 are arranged. A first stress and strain sensor 19 is set on the main airbag compartment, a third stress and strain sensor 21 is set on the inner bladder 4 of the main airbag. At the main airbag leakage detection hole 2, a second helium concentration measuring instrument 14, a second pressure sensor 15, and a first temperature sensor 16 are arranged. In the inner bladder 9 of the auxiliary airbag, a fifth pressure sensor 25 and a fourth temperature sensor 26 are arranged. At the auxiliary airbag leakage detection hole 11, a third pressure sensor 17 and a second temperature sensor 18 are arranged; the arrangement of various sensors in each area mainly selects representative positions in each area without occlusion problems, and attention should be paid to no arrangement or measurement interference between sensors.

[0051] The specific arrangement of each detection instrument is as follows: There are a first air chamber compartment 5 and a second air chamber compartment 6 inside the main airbag. The first air chamber compartment 5 and the second air chamber compartment 6 divide the inner part of the inner bladder 4 of the main airbag into three independent air chambers. The number of the fourth pressure sensors 23 in the three air chambers is not less than 4, 7, and 4 respectively. The number of the third temperature sensors 24 in the main airbag in the three air chambers is not less than 4, 7, and 4 respectively. As shown in Figure 10 and Figure 11 , where the circular mark represents the fourth pressure sensor 23 and the triangular mark represents the third temperature sensor 24; At the first air chamber compartment 5 and the second air chamber compartment 6, first stress and strain sensors 19 are set, and the number of the first stress and strain sensors 19 is not less than 4 (preferably T-shaped distribution or cross-shaped distribution). In Figure 6 , the circular mark represents the first stress and strain sensor 19.

[0052] The number of the third stress and strain sensors 21 at the inner bladder of the main airbag is not less than four. In this embodiment, 4, 5, and 4 are taken from the three air chambers respectively. In Figure 8 , the circular mark represents the third stress and strain sensor 21.

[0053] There are several main airbag leakage detection holes 2 on the outer skin of the main airbag. At each main airbag leakage detection hole 2, one second helium concentration measuring instrument 14, one second pressure sensor 15, and one first temperature sensor 16 are set. Taking the main airbag leakage detection hole 2 as the origin, from near to far are the second helium concentration measuring instrument 14, the second pressure sensor 15, and the first temperature sensor 16, and the three are arranged staggeredly to ensure that the measurements do not interfere with each other. See Figure 4 .

[0054] On the diaphragm 7 between the main and auxiliary airbags, second stress and strain sensors 20 with the number of 4, 5, and 4 are arranged corresponding to the three main airbag chambers respectively. See Figure 7 , and the circular mark represents the second stress and strain sensor 20.

[0055] There are nine fifth pressure sensors 25 and nine fourth temperature sensors 26 arranged in the internal space of the auxiliary airbag, as shown in Figure 10 and Figure 12 , where the circular marks represent the fifth pressure sensors 25 and the triangular marks represent the fourth temperature sensors 26.

[0056] There are nine fourth stress and strain sensors 22 arranged on the inner bladder 9 of the auxiliary airbag, as shown in Figure 9 , and the circular marks represent the fourth stress and strain sensors 22.

[0057] There is one third pressure sensor 17 and one second temperature sensor 18 at the leakage detection hole 11 of the auxiliary airbag. The positions of the third pressure sensor 17 and the second temperature sensor 18 are different from the leakage detection hole 11 of the auxiliary airbag. From near to far, they are the third pressure sensor 17 and the second temperature sensor 18 respectively, and they are arranged staggeredly to ensure that there is no interference during measurement, as shown in Figure 5 .

[0058] To ensure the timeliness of gas leakage detection around the exhaust valve 81 of the main airbag, six first helium concentration measuring instruments 83 are arranged at each group of main airbag integrated exhaust valves 8, arranged at equal angles circumferentially, and the included angle between each other is 60°. The actual angle can be adjusted according to needs, as shown in Figure 2 .

[0059] To ensure the timeliness of gas leakage detection around the exhaust valve 121 and the fan 122 of the auxiliary airbag, six first pressure sensors 124 are evenly distributed circumferentially around each group of auxiliary airbag integrated exhaust valves 12. The included angle between the first pressure sensors 124 is 60° each other. The actual angle can be adjusted according to needs, as shown in Figure 3 .

[0060] During the airbag leakage detection, the detection values of all helium concentration measuring instruments, stress and strain sensors, pressure sensors, and temperature sensors in the aerostat are collected in real time, and the airbag leakage is judged according to the airbag leakage judgment conditions. The airbag leakage judgment priority is as follows: using the helium concentration measurement value as the first main judgment condition, using the combination of the pressure measurement value inside the bladder and the stress measurement value on the bladder as the second main judgment condition. When the first and second main judgment conditions are not met, the auxiliary judgment conditions are started in turn. The auxiliary judgment conditions include: the pressure at the leakage detection hole, the stress on the bladder, the pressure inside the bladder, and the temperature at the detection hole. Meeting any one of the auxiliary judgment conditions can determine leakage. On the basis of the above judgment conditions, the airship control system (alarm device) issues a leakage alarm prompt.

[0061] The following describes the steps for leak detection in the cruise state of the airship. Specifically, the main airbag gas leak is judged according to the following airbag leak judgment conditions, and a leak warning is issued to prompt the control airship system to take corresponding treatment measures, such as adjusting the flight altitude, airship attitude and pressure system, to ensure flight safety: The main airbag leak judgment conditions include the main judgment conditions of the main airbag and the auxiliary judgment conditions of the main airbag; first, it is judged whether the first main judgment condition of the main airbag is satisfied. The first main judgment condition of the main airbag is judged according to the helium concentration value measured by the helium concentration measuring instrument, including two cases. Meeting either case can judge that the main airbag leaks: (1)When the helium concentration currently measured by the second helium concentration measuring instrument 14 at the main airbag leak detection hole 2 exceeds the set threshold of the control system (the value in this embodiment is 1%, and the specific value can be adjusted according to the measurement accuracy of the actually used helium concentration measuring instrument), it is considered that there is a gas leak in the main airbag area corresponding to the main airbag leak detection hole 2 here; (2)When the helium concentration currently measured by the first helium concentration measuring instrument 83 at the main airbag integrated exhaust valve 8 exceeds the set threshold of the control system (the value in this embodiment is 1%, which can be determined according to the measurement accuracy of the actually used helium concentration measuring instrument), it is considered that there is a gas leak at the main airbag integrated exhaust valve 8.

[0062] If the first main judgment condition of the main airbag is not satisfied, it is judged whether the second main judgment condition of the main airbag is satisfied. The second main judgment condition of the main airbag is a combined judgment condition composed of the airbag internal pressure and airbag stress measurement: When the difference between the measured pressure value of the fourth pressure sensor 23 in a certain main airbag gas chamber and the set value of the main airbag internal pressure in the control system exceeds the design threshold (the value in this embodiment is 5 - 10 Pa, and the specific value can be adjusted according to the accuracy of the pressure sensor and design requirements), and at the same time, there is at least a sudden increase in the measured strain value of at least one third stress and strain sensor 21 on the main airbag body corresponding to this gas chamber. The ratio of the current measured value of the third stress and strain sensor 21 to its previous measured value ranges from 1.5 to 3 (the specific value can be adjusted according to the measurement accuracy of the stress and strain sensor and design requirements, and the preferred range is 1.5 to 2), then it is considered that there is a gas leak in the area where the gas chamber of the main airbag is located.

[0063] If the above main judgment conditions of the main airbag are not satisfied, it is judged in the following order whether the auxiliary judgment conditions of the main airbag are satisfied: The first main airbag auxiliary judgment condition is that the current measured pressure value of the second pressure sensor 15 at the main airbag leakage detection hole 2 exceeds a certain threshold value of the external environmental pressure where the airship is located. In this embodiment, when the pressure (gauge pressure) in the main airbag is between 100 and 400 Pa and the threshold value is set to 50 to 100 Pa (the specific value can be adjusted according to the design requirements of the airbag pressure), it is considered that there is gas leakage in the main airbag area corresponding to the main airbag leakage detection hole 2 here; when the first main airbag auxiliary judgment condition is not met, it is judged whether the second main airbag auxiliary judgment condition is met; The second main airbag auxiliary judgment condition is that the ratio of the current measured strain value of the third stress-strain sensor 21 on the inner bladder 4 of a certain main airbag to the previous measured value is greater than 3 (those skilled in the art can adjust and set according to the measurement accuracy of the stress-strain sensor and the design requirements), then it is considered that there is gas leakage in the main airbag area; when the second main airbag auxiliary judgment condition is not met, it is judged whether the third main airbag auxiliary judgment condition is met; The third main airbag auxiliary judgment condition is that the difference between the current measured pressure value of the fourth pressure sensor 23 of the main airbag and the set value of the pressure in the main airbag in the control system exceeds the design threshold value (the value is 10 Pa, and the specific value can be adjusted according to the accuracy of the pressure sensor and the design requirements), or the trend of its measured value changing with flight time and the value do not conform to the pressure control law in the main airbag, and the absolute value of the numerical deviation at the same moment is greater than 10 Pa (the specific value can be adjusted according to the accuracy of the pressure sensor and the design requirements), or there is an obvious large deviation between the measured values of different fourth pressure sensors 23 (the deviation value is 10 Pa, and the specific value can be adjusted according to the measurement accuracy of the pressure sensor and the design requirements), then it is considered that there is gas leakage in the main airbag area; when the second main airbag auxiliary judgment condition is not met, it is judged whether the fourth main airbag auxiliary judgment condition is met; The fourth main airbag auxiliary judgment condition is that when the absolute value of the difference between the current measured value of the first temperature sensor 16 at the leakage detection hole 2 of a certain main airbag and the temperature set value in the control system of the main airbag does not exceed the design threshold value (the value in this embodiment is 1 to 2 °C), it is considered that there may be leakage in the main airbag area, and the detection values of other detection instruments need to be concerned.

[0064] When detecting whether there is a leak in the auxiliary airbag, leakage detection is carried out through the third pressure sensor 17 and the second temperature sensor 18 at the auxiliary airbag leakage detection hole 11, the first pressure sensor 124 at the integrated exhaust valve of the auxiliary airbag, the fourth stress and strain sensor 22 on the inner bladder 9 of the auxiliary airbag, the fifth pressure sensor 25 arranged in the internal space of the auxiliary airbag, and the fourth temperature sensor 26. According to the judgment result, a leakage warning prompt is sent through the warning device. Specifically, the following leakage detection logic is used to judge the gas leakage of the auxiliary airbag. The judgment priority is as follows: The pressure value at the auxiliary airbag leakage detection hole 11 or the integrated exhaust valve 12 of the auxiliary airbag is used as the first main judgment condition for the auxiliary airbag. The combination of the pressure measurement value inside the inner bladder 9 of the auxiliary airbag and the stress measurement value on the inner bladder 9 of the auxiliary airbag is used as the second main judgment condition for the auxiliary airbag. When both the first and second main judgment conditions are not met, the auxiliary airbag is judged according to the auxiliary judgment conditions of the auxiliary airbag, including: stress measurement value judgment on the bladder, pressure measurement value judgment inside the bladder, and temperature measurement value judgment at the detection hole. On the basis of the above judgment, if it is judged that the airship has a leak, a leakage warning prompt is sent, and the pilot controls the pressure system, the fan or the exhaust valve as needed, and adjusts the flight altitude and flight attitude: First, it is judged whether the first main judgment condition for the auxiliary airbag is satisfied. The first main judgment condition for the auxiliary airbag includes two parts: (1) If the current measurement value of the third pressure sensor 17 at the auxiliary airbag leakage detection hole 11 exceeds a certain threshold of the ambient pressure setting value of the airship (in this embodiment, the pressure inside the auxiliary airbag (gauge pressure) is 100 - 300 Pa, and the threshold is 50 - 100 Pa), it is considered that the auxiliary airbag leaks air; or, (2) If the current measurement value of the first pressure sensor 124 at the integrated exhaust valve 12 of the auxiliary airbag exceeds a certain threshold of the ambient pressure setting value of the airship (in this embodiment, the pressure inside the auxiliary airbag (gauge pressure) is 100 - 300 Pa, and the threshold is 50 - 100 Pa), it is considered that there is gas leakage at the integrated exhaust valve 12 of the auxiliary airbag.

[0065] If the first main judgment condition for the auxiliary airbag is not satisfied, it is judged whether the second main judgment condition for the auxiliary airbag is satisfied; The second main judgment condition for the auxiliary airbag is a combined condition: When the difference between the measured pressure value of the fifth pressure sensor 25 in the auxiliary airbag area and the set pressure value inside the main airbag in the control system exceeds the design threshold (the value in this embodiment is 5 - 10 Pa), and at least one of the current measured strain values of the fourth stress and strain sensors 22 on the inner bladder 9 of the auxiliary airbag and its previous measured value ratio is 1.5 - 3 (preferably 1.5 - 2), it is considered that there is gas leakage in the auxiliary airbag.

[0066] If the above main judgment conditions for the auxiliary airbag are not satisfied, it is judged in the following order whether the auxiliary judgment conditions for the auxiliary airbag are satisfied: First, it is judged whether the first auxiliary judgment condition for the airbag is satisfied: If the ratio of the strain value measured by a certain fourth stress-strain sensor 22 at the ninth position of the inner bladder of the airbag to the strain value measured previously by itself is greater than 3 (which can be adjusted according to the measurement accuracy of the stress-strain sensor and the design requirements), it is considered that there is a leak in the airbag area; in the case where the first auxiliary judgment condition for the airbag is not satisfied, it is judged whether the second auxiliary judgment condition for the airbag is satisfied; Second auxiliary judgment condition for the airbag: The difference between the current measured pressure value of a certain fifth pressure sensor 25 in the inner bladder 9 of the airbag and the pressure set value in the main airbag in the control system exceeds the design threshold (in this embodiment, the value is 10 Pa, including the trend of the measured value changing with flight time and the numerical value not conforming to the pressure control law in the main airbag, and the absolute value of the numerical deviation at the same moment being greater than 10 Pa), or there is a significant deviation between the measured values of two fifth pressure sensors 25 in the inner bladder 9 of the airbag (the value is 10 Pa, and the specific value can be adjusted according to the measurement accuracy of the pressure sensor and the design requirements), then it is considered that there is a gas leak in the airbag; in the case where the second auxiliary judgment condition for the airbag is not satisfied, it is judged whether the third auxiliary judgment condition for the airbag is satisfied; Third auxiliary judgment condition for the airbag: If the absolute value of the difference between the current measured value of the second temperature sensor 18 at the airbag leak detection hole 11 and the temperature set value in the airbag control system exceeds the design threshold (the value in this embodiment is 1~2 °C), it is considered that there may be an air leak in the airbag, and the numerical values of other detection instruments need to be concerned.

[0067] In addition, the airbag leak judgment condition also includes the leak judgment condition of the diaphragm 7 between the main airbag and the auxiliary airbag, specifically: When there is a sharp increase in the strain value measured by at least one second stress-strain sensor 20 on the diaphragm 7 between the main airbag and the auxiliary airbag, and the ratio of its current measured value to its previous measured value is greater than 1.5 (the specific value can be adjusted according to the measurement accuracy of the stress-strain sensor and the design requirements), it is considered that there is a leak in this diaphragm 7. According to the numerical judgment result, a leak warning prompt is issued by the warning device, and the lift and descent of the airship are judged according to the deviation degree and the overall force situation of the whole boat as needed.

[0068] The airbag leak judgment condition also includes the leak judgment condition of the interlayer between adjacent air chambers in the main airbag, specifically: When the ratio of the strain value measured by at least one first stress-strain sensor 19 on the air chamber interlayer between an air chamber and an adjacent air chamber to the strain value measured previously by itself is greater than 1.5 (the specific value can be adjusted according to the measurement accuracy of the stress-strain sensor and the design requirements), it is considered that there is a leak in the corresponding diaphragm, and a main airbag interlayer leak prompt is issued by the warning device. It is necessary to pay attention to the changes in the temperature and pressure sensor values in each main airbag and the flight attitude of the airship to prevent uneven overall force caused by air flow disturbance in the main airbag and affect flight safety.

[0069] It should be noted that the leakage detection method in the present invention is mainly applicable to the on-line detection and leakage warning prompt of the gas leakage in the airship envelope during the cruise stage (steady flight) of the airship. For the take-off and landing stages, only leakage detection is carried out, and leakage warning judgment is not performed. The reason is that during the ascent and descent of the airship, in order to ensure the pressure of the main and auxiliary envelopes, it is necessary to control the pressure of the auxiliary envelope, which is adjusted by a blower and an exhaust valve. During the ascent process, the auxiliary envelope valve is deflated according to the pressure control law, and during the descent process, the auxiliary envelope is inflated by the blower according to the pressure control law; generally, the amount of helium in the main envelope remains unchanged, and the volume of helium in the main envelope is indirectly changed by the pressure change and volume change of the auxiliary envelope, indirectly adjusting the pressure in the main envelope. When the pressure in the main envelope exceeds the limit threshold, the exhaust valve body is used to exhaust gas to finely adjust the pressure in the main envelope. During the above process, the pressure in the main and auxiliary envelopes changes, resulting in a follow-up change in temperature. The various sensors arranged in the present invention are prone to interference and deviation. Therefore, only leakage warning judgment is performed on the cruise state.

[0070] It should be noted that the leakage detection method proposed in the present invention can achieve full coverage for the destructive leakage of the airship envelope. For the small gaps or holes caused by the aging of the envelope and the micro-leakage at the docking joints of the installation holes such as the blower valves, etc., after a certain period of time accumulation, effective leakage detection and rapid positioning can also be carried out.

[0071] It should be noted that the number and arrangement positions of the above sensors can be appropriately increased or decreased according to the size of the airship envelope and the sizes of the blower and valves; It should be noted that the working medium in the three regions of the main envelope of the airship is helium, and the working medium in the auxiliary envelope is air.

[0072] It should be noted that the above various types of sensors can be considered for optional installation or the number of arrangements can be increased according to the actual airship design and the needs of gas leakage detection in the main and auxiliary envelopes.

[0073] It should be noted that the above temperature, pressure, stress and strain sensors can be comprehensively considered and reasonably arranged in combination with the corresponding types of sensors required for the airship pressure system and structural strength design.

[0074] In this embodiment, when any part of the main envelope or the auxiliary envelope has destructive leakage, the above gas leakage detection method can quickly and timely detect the occurrence of leakage, quickly locate the leakage area, and send a leakage warning to the airship control system; when any part of the main envelope or the auxiliary envelope has weak gas leakage, such as local cracks in the envelope material of the main envelope or the auxiliary envelope, the butt joint, and the poor sealing at the installation holes of the integrated exhaust valve 8 of the main envelope and the integrated exhaust valve 12 of the auxiliary envelope on the envelope, etc., resulting in weak gas leakage, the above leakage detection method requires a certain accumulation of leakage time to be detected.

[0075] As an alternative embodiment, to prevent foreign objects from entering the bladder interlayer or blocking the leak detection holes, filter meshes can be installed at the main airbag leak detection hole 2 and the secondary airbag leak detection hole 11.

[0076] As an alternative embodiment, the probe positions of the second helium concentration measuring instrument 14, the second pressure sensor 15, and the first temperature sensor 16 at the main airbag leak detection hole 2 can be arranged between the outer skin 1 of the main airbag and the inner bladder 4 of the main airbag and fixed on the outer surface of the inner bladder 4 of the main airbag respectively.

[0077] As an alternative embodiment, the probe positions of the temperature sensor and the pressure sensor at the secondary airbag leak detection hole 11 can be arranged between the inner bladder 9 of the secondary airbag and the outer skin 10 of the secondary airbag and fixed on the outer surface of the inner bladder 9 of the secondary airbag respectively.

[0078] As an alternative embodiment, the secondary airbag in the present invention is not divided into multiple air chambers. Those skilled in the art can also divide it into multiple air chambers according to the needs of leak detection and design requirements such as structural strength with reference to the structural form of the main airbag.

[0079] As an alternative embodiment, pneumatic or electric valves can also be installed at the leak detection holes on the main airbag and the secondary airbag in the present invention. The valves are closed when there is no gas leakage in the airbag; when the pressure value in the interlayer exceeds the design value, that is, the valves open, and the control system gives a prompt that the valves open, indicating that there is a leak in this area.

[0080] In the description of the embodiments of the present application, it should be noted that in the description of the present application, the terms indicating the direction or positional relationship such as "inner" and "outer" are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0081] In the description of the present application, the descriptions referring to terms such as "this embodiment" and "an embodiment" mean that the specific features, mechanisms, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0082] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An aerostat, comprising an airbag, wherein a diaphragm (7) is arranged inside the airbag to divide the airbag into a main airbag and a secondary airbag, and is characterized in that: The main airbag includes a main airbag inner bladder (4), a main airbag outer skin (1), a first air interlayer located between the main airbag inner bladder (4) and the main airbag outer skin (1), and a main support member (3); an air chamber partition layer is provided in the main airbag inner bladder (4) to divide at least two independent air chambers in the main airbag inner bladder (4); Main airbag leakage detection holes (2) are provided on the main airbag outer skin (1), and a second helium concentration measuring instrument (14), a second pressure sensor (15), and a first temperature sensor (16) are provided at the main airbag leakage detection holes (2); Each air chamber is equipped with an independent main airbag integrated exhaust valve (8), and the main airbag integrated exhaust valve (8) includes a main airbag exhaust valve (81) and a first helium concentration measuring instrument (83); The secondary airbag includes a secondary airbag inner bladder (9), a secondary airbag outer skin (10), a secondary airbag integrated exhaust valve (12), a second air interlayer located between the secondary airbag inner bladder (9) and the secondary airbag outer skin (10), and a secondary support member (13); Secondary airbag leakage detection holes (11) are provided on the secondary airbag outer skin (10), and a third pressure sensor (17) and a second temperature sensor (18) are provided at the secondary airbag leakage detection holes (11); The secondary airbag integrated exhaust valve (12) includes a secondary airbag exhaust valve (121), a blower (122), and a first pressure sensor (124).

2. The aerostat according to claim 1, characterized in that: The thickness of the first air interlayer is 10 mm to 20 mm; the thickness of the second air interlayer is 10 mm to 20 mm.

3. The aerostat according to claim 1, wherein: A plurality of main airbag leakage detection holes (2) are evenly distributed on the main airbag outer skin (1); The diameter of the main airbag leakage detection holes (2) is 10 mm to 15 mm; The diameter of the secondary airbag leakage detection holes (11) is 10 mm to 15 mm.

4. The aerostat according to claim 1, characterized in that: The main airbag integrated exhaust valve (8) includes a plurality of first helium concentration measuring instruments (83), the main airbag exhaust valve (81) and the plurality of first helium concentration measuring instruments (83) are integrated on a main flange (82), and the plurality of first helium concentration measuring instruments (83) are evenly distributed around the circumference of the main airbag exhaust valve (81), and the main airbag integrated exhaust valve (8) controls the gas in the main airbag inner bladder (4) to be discharged to the outside of the main airbag outer skin (1); The secondary airbag integrated exhaust valve (12) includes a plurality of blowers (122) and a plurality of first pressure sensors (124), the secondary airbag exhaust valve (121), the plurality of blowers (122), and the plurality of first pressure sensors (124) are integrated on a secondary flange (123), the plurality of blowers (122) and the plurality of first pressure sensors (124) are evenly distributed around the circumference of the secondary airbag exhaust valve (121), and the secondary airbag integrated exhaust valve (12) controls the gas in the secondary airbag inner bladder (9) to be discharged to the outside of the secondary airbag outer skin (10).

5. The aerostat according to claim 1, wherein: A first stress and strain sensor (19) is provided on the air chamber partition layer, and a second stress and strain sensor (20) is provided on the diaphragm (7); a third stress and strain sensor (21), a fourth pressure sensor (23) for detecting the internal pressure of the main airbag inner bladder (4), and a third temperature sensor (24) for detecting the internal temperature of the main airbag inner bladder (4) are provided on the main airbag inner bladder (4); A third pressure sensor (17) and a second temperature sensor (18) are provided at the secondary airbag leakage detection hole (11); a fourth stress and strain sensor (22), a fifth pressure sensor (25) for detecting the internal pressure of the secondary airbag inner bladder (9), and a fourth temperature sensor (26) for detecting the internal temperature of the secondary airbag inner bladder (9) are provided on the secondary airbag inner bladder (9).

6. A method for detecting airbag leakage, which is applied to the aerostat as described in any one of claims 1 to 5, and is characterized in that, It includes the following steps: Step 1: Collect the detection values of all helium concentration measuring instruments, stress and strain sensors, pressure sensors, and temperature sensors inside the aerostat; Step 2: Based on the detection values in Step 1, combined with the airbag leakage judgment conditions, perform airbag leakage judgment. The airbag leakage judgment conditions include the main airbag leakage judgment conditions, and the main airbag leakage judgment conditions include the following steps: S1. If the first main airbag main judgment condition is met: the current measured helium concentration value of the first helium concentration measuring instrument (83) on the main airbag integrated exhaust valve (8) or the second helium concentration measuring instrument (14) at the main airbag leakage detection hole (2) is greater than 1%, it is determined that the main airbag has a leak, and proceed to Step 3; if the first main airbag main judgment condition is not met, proceed to S2; S2. If the second main airbag main judgment condition is met: A certain air chamber in the main airbag inner bladder (4) simultaneously meets: (a) The ratio of the current measured strain value of the third stress and strain sensor (21) on the main airbag inner bladder (4) of this air chamber to the previous measured strain value ranges from 1.5 to 3, (b) The deviation between the current measured pressure value of the fourth pressure sensor (23) in this air chamber and the internal pressure set value under the normal state of the main airbag inner bladder (4) is 5 to 10 Pa, It is determined that the main airbag has a leak, and proceed to Step 3; if the second main airbag main judgment condition is not met, proceed to S3; S3. If the first main airbag auxiliary judgment condition is met: the current measured pressure value of the second pressure sensor (15) at the main airbag leakage detection hole (2) exceeds the external environmental pressure value of the aerostat by 50 Pa or more, it is determined that the main airbag has a leak, and proceed to Step 3; if the first main airbag auxiliary judgment condition is not met, proceed to S4; S4. If the second main airbag auxiliary judgment condition is met: the ratio of the current measured strain value of the third stress and strain sensor (21) on the main airbag inner bladder (4) of any air chamber to the previous measured strain value is greater than 3, it is determined that the main airbag has a leak, and proceed to Step 3; if the second main airbag auxiliary judgment condition is not met, proceed to S5; S5. If the third main airbag auxiliary judgment condition is satisfied: the deviation between the pressure value currently measured by the fourth pressure sensor (23) in any one air chamber and the internal pressure set value of the main airbag inner bladder (4) under normal conditions is greater than 10 Pa, it is determined that there is a leak in the main airbag, and step three is entered; if the third main airbag auxiliary judgment condition is not satisfied, S6 is entered; S6. If the fourth main airbag auxiliary judgment condition is satisfied: the difference between the temperature value currently measured by the first temperature sensor (16) at the main airbag leak detection hole (2) and the internal temperature set value of the main airbag inner bladder under normal conditions is 1 - 2 °C, it is determined that there may be a leak in the main airbag, and step three is entered; Step three: According to the judgment result of step two, when it is determined that there is a leak, an alarm prompt is sent through the alarm device, and when it is determined that there may be a leak, a general prompt is sent through the alarm device.

7. The airbag leakage detection method according to claim 6, characterized in that, In step two, the airbag leak judgment condition further includes the sub - airbag leak judgment condition, and the sub - airbag leak judgment condition includes the following steps: T1. If the first sub - airbag main judgment condition is satisfied: the pressure value currently measured by the third pressure sensor (17) at the sub - airbag leak detection hole (11) or the first pressure sensor (124) at the sub - airbag integrated exhaust valve (12) exceeds the external environmental pressure value of the aerostat by 50 Pa or more, it is determined that there is a leak in the sub - airbag, and step three is entered; if the first sub - airbag main judgment condition is not satisfied, T2 is entered; T2. If the second sub - airbag main judgment condition is satisfied: (a) The ratio of the strain value currently measured by the fourth stress - strain sensor (22) on the sub - airbag inner bladder (9) to the strain value measured previously ranges from 1.5 to 3, and (b) the deviation between the pressure value currently measured by the fifth pressure sensor (25) inside the sub - airbag inner bladder (9) and the internal pressure set value of the sub - airbag inner bladder (9) under normal conditions is 5 - 10 Pa, it is determined that there is a leak in the sub - airbag, and step three is entered; if the second sub - airbag main judgment condition is not satisfied, T3 is entered; T3. If the first sub - airbag auxiliary judgment condition is satisfied: the ratio of the strain value currently measured by the fourth stress - strain sensor (22) on the sub - airbag inner bladder (9) to the strain value measured previously is greater than 3, it is determined that there is a leak in the sub - airbag, and step three is entered; if the first sub - airbag auxiliary judgment condition is not satisfied, T4 is entered; T4. If the second sub - airbag auxiliary judgment condition is satisfied: the deviation between the pressure value currently measured by the fifth pressure sensor (25) inside the sub - airbag inner bladder (9) and the internal pressure set value of the sub - airbag inner bladder (9) under normal conditions is greater than 10 Pa, or at least two fifth pressure sensors (25) are provided inside the sub - airbag inner bladder (9), and the difference between the pressure values currently measured by any two fifth pressure sensors (25) inside the sub - airbag inner bladder (9) is greater than 10 Pa, it is determined that there is a leak in the sub - airbag, and step three is entered; if the second sub - airbag auxiliary judgment condition is not satisfied, T5 is entered; T5. If the third auxiliary airbag judgment condition is met: the difference between the temperature value currently measured by the second temperature sensor (18) at the airbag leakage detection hole (11) and the internal temperature set value of the airbag inner bladder (9) under normal conditions is 1 to 2 °C, it is determined that the airbag may have a leakage, and step three is entered.

8. The airbag leakage detection method according to claim 6, wherein In step two, the airbag leakage judgment condition further includes the leakage judgment condition of the air chamber partition layer, and the leakage judgment condition of the air chamber partition layer includes the following steps: A1. If the ratio of the strain value currently measured by the first stress and strain sensor (19) on the air chamber partition layer to the strain value measured previously is greater than 1.5, it is determined that the air chamber partition layer leaks, and step three is entered.

9. The airbag leakage detection method according to claim 6, characterized in that, In step two, the airbag leakage judgment condition further includes the leakage judgment condition of the diaphragm (7), and the leakage judgment condition of the diaphragm (7) includes the following steps: B1. If the ratio of the strain value currently measured by the second stress and strain sensor (20) on the diaphragm (7) to the strain value measured previously is greater than 1.5, it is determined that the diaphragm (7) leaks, and step three is entered.

10. The airbag leakage detection method according to claim 6, characterized in that, In step three, the warning device issues a warning prompt only when the aerostat is in the cruising state, and the cruising state is: After the aerostat completes the altitude climb, it maintains a horizontal, uniform, and straight flight motion state, and the cruising state ends when the aerostat starts to descend.

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