Airship, load equipment and load recovery method

Abstract

The invention discloses an airship and load equipment and a load recovery method.The airship and load equipment comprises a load end and an airship end, the load end and the airship end are connected through a separation structural part, the load end is fixedly provided with a load end aviation plug, and the airship end is fixedly provided with an airship end aviation plug; the load end aviation plug is in butt joint with the airship end aviation plug so as to electrically connect the load end with the airship end, the load end comprises a load bin, load equipment and a control device which are arranged in the load bin, and a parachute connected with the load bin, and the control device is configured to control the separation structural part to separate the load end from the airship end and control the parachute to be opened. The falling of the load end drives the load end aviation plug to be separated from the airship end aviation plug. Decoupling separation of the load end and the airship end can be achieved, independent safe recovery of the load end is achieved, the airship end does not need to participate in recovery control, the airship end can keep on-orbit operation, and the technical problem caused by overall recovery is avoided.

Description

Technical Field

[0001] This application relates to the field of airship technology, and in particular to a method for recovering the payload of an airship and its payload equipment. Background Technology

[0002] Currently, there is no existing technology for separately recovering the payload end attached to an airship. The closest solution is the recovery of the entire airship, such as the "A Parachute-Based Tethered Airship Recovery Device" proposed by Henan Zhongyuan Aerospace Innovation Technology Co., Ltd. This solution belongs to the recovery control of tethered airships. The triggering principle is to monitor the internal pressure of the capsule in real time. When insufficient internal pressure is detected, the controller triggers the parachute to open, realizing the recovery of the airship. Another example is "A Stratospheric Airship Recovery System and Recovery Method," which controls the descent of the airship by controlling the release of helium gas, and performs separation operations near the sea surface for segmented recovery.

[0003] The aforementioned existing technologies all address the recovery of the entire airship. However, whole-airship recovery solutions have shortcomings in equipment protection and mission continuity, with the core issues being: 1. High risk of damage to precision loads Precision loads (such as optical sensors and communication circuits) are susceptible to seawater corrosion when the entire vessel is thrown into the sea, and the impact of a hard landing may far exceed the limits of the equipment, resulting in structural damage to the microelectromechanical system. 2. Task interruption and time loss Full recovery of the airship requires its full participation in the landing process, forcing the interruption of reconnaissance and communication missions. If the payload needs to be recovered urgently, the airship must abandon the mission and return to base. Summary of the Invention

[0004] The purpose of this application is to provide an airship, payload equipment, and payload recovery method that can avoid the technical problems caused by overall recovery.

[0005] To achieve the above objectives, this application provides an airship and payload equipment, including a payload end and an airship end, wherein the payload end and the airship end are connected by a separation structure, the payload end is fixedly provided with a payload end connector, and the airship end is fixedly provided with an airship end connector, the payload end connector and the airship end connector are docked to establish an electrical connection between the payload end and the airship end, the payload end includes a payload compartment, payload equipment and a control device disposed in the payload compartment, and a parachute connected to the payload compartment, the control device being configured to control the separation structure to separate the payload end and the airship end and to control the parachute to open, the descent of the payload end causing the payload end connector to separate from the airship end connector.

[0006] Optionally, one end of the separation structure is fixedly connected to the load chamber, and the other end of the separation structure is fixedly connected to the truss connector.

[0007] Optionally, the payload-end connector includes a first housing and a first connector, the first connector being fixedly installed inside the first housing, and the first housing being connected to the payload compartment; the airship-end connector includes a second housing and a second connector, the second connector being fixedly installed inside the second housing, and the second housing being connected to the truss of the airship end; the first connector and the second connector are detachably plugged together, the first connector being electrically connected to the control device, and the second connector being electrically connected to the equipment of the airship end; a safety pin is provided on the first housing and the second housing, one end of the safety pin being provided with a laterally elastically retractable locking protrusion, the first housing having a first through hole, and the second housing having a second through hole, after the payload-end connector and the airship-end connector are docked, the safety pin passes through the first through hole and the second through hole in sequence, the locking protrusion is pressed inward by the hole wall of the second through hole when it is in the second through hole, and the locking protrusion elastically extends outward after passing through the second through hole, and the safety pin is connected to the payload compartment.

[0008] Optionally, the control device includes a controller and a communication module and an energy management module electrically connected to the controller; A data bus connects the communication module to the payload-end connector and the airship-end connector to the airship-end equipment; and / or, An energy bus connects the energy management module to the payload terminal connector and the airship terminal connector to the airship terminal equipment.

[0009] Optionally, the control device includes a first switch electrically connected to the controller, the controller controlling the first switch to switch the electrical on / off state between the payload-end connector and the airship-end connector; and / or, The control device includes a second switch electrically connected to the controller, which controls the second switch to separate the separation structure; and / or The control device includes a third switch electrically connected to the controller, which controls the third switch to open the parachute.

[0010] Optionally, the control device includes a satellite positioning module, an IMU module, a barometer, and a temperature control module that are electrically connected to the controller.

[0011] Optionally, the controller, the communication module, the energy management module, the satellite positioning module, the IMU module, the barometer, and the temperature control module are housed within the pressure-resistant constant temperature chamber.

[0012] Optionally, the parachute is connected to the payload compartment via a parachute separator, and the control device is configured to control the parachute separator to separate the parachute from the payload compartment.

[0013] To achieve the above objectives, this application provides a method for recovering the payload of the airship and payload equipment as described above, comprising the following steps: The control device controls the disconnection of the electrical connection between the load-end connector and the airship-end connector; The control device controls the separation structure to separate the load end from the airship end; When the load end falls under its own weight, it pulls the load end connector to separate from the airship end connector. The control device switches from the levitation control phase to the descent control phase; During the descent control phase, the control device controls the deployment of the parachute.

[0014] To achieve the above objectives, this application provides a method for recovering the payload of the airship and payload equipment as described above, comprising the following steps: The control device controls the disconnection of the electrical connection between the load-end connector and the airship-end connector; The control device controls the separation structure to separate the load end from the airship end; When the load end falls under its own weight, it pulls the load end connector to separate from the airship end connector. The control device switches from the levitation control phase to the descent control phase; During the descent control phase, the control device controls the parachute to open; Once the control device detects that the payload has landed, it switches from the descent control phase to the landing control phase and controls the parachute separation component to separate the parachute from the payload compartment.

[0015] The embodiments of this application can achieve decoupling and separation of the payload end and the airship end, enabling the independent and safe recovery of the payload end without the airship end participating in the recovery control. The airship end can remain in orbit, avoiding the technical problems caused by overall recovery. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the airship and payload equipment according to an embodiment of this application.

[0017] Figure 2 This is a schematic block diagram illustrating the control relationship in an embodiment of this application.

[0018] Figure 3This is a schematic diagram of the load end, separation insertion device, truss connector, separation structure, etc., in an embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the load end, truss connector, and separate structural component in an embodiment of this application.

[0020] Figure 5 This is a three-dimensional structural diagram of the separation device for the aircraft according to an embodiment of this application.

[0021] Figure 6 This is an exploded view of the separation device of the present application embodiment.

[0022] Figure 7 This is another exploded structural diagram of the separation device in an embodiment of this application.

[0023] Figure 8 This is a cross-sectional structural diagram of the separation device for the aircraft according to an embodiment of this application.

[0024] Figure 9 This is another cross-sectional structural schematic diagram of the separation aircraft insertion device according to an embodiment of this application.

[0025] Figures 10 to 13 This is a schematic diagram illustrating the assembly of control devices and other components into a temperature- and pressure-resistant enclosure, as shown in the embodiments of this application. Some of the structures are hidden.

[0026] Figure 14 This is a schematic diagram showing the airship and payload equipment at different stages according to embodiments of this application. Detailed Implementation

[0027] To explain in detail the technical content, structural features, objectives and effects of this application, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0028] Please see Figures 1 to 13 This application discloses an airship and its payload equipment.

[0029] The airship and payload equipment include a payload end and an airship end, which are connected by a separation structure 10. The payload end is equipped with a payload end connector 20, and the airship end is equipped with an airship end connector 30. The payload end connector 20 and the airship end connector 30 are connected to each other for electrical connection. The payload end includes a payload compartment 40, a payload device 41 and a control device 50 disposed in the payload compartment 40, and a parachute 60 connected to the payload compartment 40. The control device 50 is configured to control the separation structure 10 to separate the payload end and the airship end and to control the parachute 60 to open. The descent of the payload end causes the payload end connector 20 to separate from the airship end connector 30.

[0030] The airship and payload equipment of this embodiment include a separation structure 10 and detachable dockable payload-end connector 20 and airship-end connector 30 (together forming a separation connector device C) between the payload end and the airship end. When payload recovery is required, the separation structure 10 is controlled by the control device 50 to separate the payload end from the airship end and cause it to fall. The falling of the payload end pulls the payload-end connector 20 downward, causing it to separate from the airship-end connector 30, thus allowing the payload end to enter the descent phase. During the descent phase, the payload end can deploy its parachute 60 under the control of the control device 50, thereby achieving reliable payload recovery. Therefore, the airship and payload equipment of this embodiment can achieve decoupling and separation of the payload end and the airship end, enabling the independent and safe recovery of the payload end without the airship end's involvement in recovery control. The airship end can remain in orbit, avoiding the technical problems caused by overall recovery.

[0031] In some embodiments, one end of the separation structure 10 is fixedly connected to the load cell 40, and the other end of the separation structure 10 is fixedly connected to the truss connector 70. By providing the truss connector 70, the separation structure 10 is fixedly connected to the truss connector 70, and the truss connector 70 is used to connect to the truss (not shown) of the airship 90, which facilitates the connection between the separation structure 10 and the truss.

[0032] Optionally, the payload-side connector 20 includes a first housing 21 and a first connector 22, with the first connector 22 fixedly installed inside the first housing 21. The first housing 21 is connected to the payload compartment 40. The airship-side connector 30 includes a second housing 31 and a second connector 32, with the second connector 32 fixedly installed inside the second housing 31. The second housing 31 is connected to the truss, specifically to the truss connector 70, and connected to the truss via the truss connector 70.

[0033] The first connector 22 and the second connector 32 can be detachably plugged together. The first connector 22 is electrically connected to the control device 50, and the second connector 32 is electrically connected to the equipment at the end of the airship.

[0034] A safety pin 80 is provided on the first outer shell 21 and the second outer shell 31. One end of the safety pin 80 is provided with a laterally elastically retractable locking protrusion 81. The first outer shell 21 is provided with a first through hole 211, and the second outer shell 31 is provided with a second through hole 311. After the payload end connector 20 and the airship end connector 30 are docked, the safety pin 80 passes through the first through hole 211 and the second through hole 311 in sequence. When the locking protrusion 81 is in the second through hole 311, it is pressed inward by the hole wall of the second through hole 311. After the locking protrusion 81 passes through the second through hole 311, it extends outward elastically. The safety pin 80 is connected to the payload compartment 40.

[0035] Based on the above technical means, a reliable electrical connection between the payload end and the airship end can be achieved, and when the payload end needs to be recovered, the payload end insertion 20 and the airship end insertion 30 can be physically separated by the pull of the payload compartment 40 as it falls.

[0036] In some embodiments, the safety pin 80 includes a first post 82, a second post 83 extending from the middle of one end of the first post 82, and a locking protrusion 81 provided at the end of the second post 83 away from the first post 82; the first through hole 211 includes a coarse hole 2111 and a fine hole 2112, with a step 2113 formed between the coarse hole 2111 and the fine hole 2112; the first post 82 is adapted to be inserted into the coarse hole 2111 and is stopped by the step 2113 between the coarse hole 2111 and the fine hole 2112; the second post 83 is adapted to be inserted into the fine hole 2112 and the second through hole 311, with the end of the second post 83 provided with the locking protrusion 81 extending out of the second through hole 311. By providing the safety pin 80, the reliability of the docking between the load-side connector 20 and the airship-side connector 30 can be guaranteed.

[0037] Specifically, the second column 83 is provided with a third through hole 831 extending laterally. An elastic element 84 and two locking protrusions 81 are disposed within the third through hole 831. The two locking protrusions 81 are retractably disposed at both ends of the third through hole 831. The elastic element 84 abuts between the two locking protrusions 81. Normally, the two locking protrusions 81 partially extend out of the third through hole 831. When they enter the second through hole 311, the two locking protrusions 81 are pressed inward, compressing the elastic element 84. When they pass through the second through hole 311, the elastic element 84 releases, pushing the two locking protrusions 81 back to their partially outward-extended state. Through the action of the elastic element 84, the self-adaptive extension and retraction of the locking protrusions 81 can be achieved.

[0038] More specifically, the card protrusion 81 is a sphere.

[0039] Specifically, the first outer casing 21 has a fastening hole 212 on at least one side of the first pillar 82; after the safety pin 80 is inserted into place, the fastener 85 provided in the fastening hole 212 abuts against the side wall of the first pillar 82. By the fastener 85 abutting against the side wall of the first pillar 82, it can be ensured that the safety pin 80 is engaged with the first outer casing 21 with a certain force.

[0040] More specifically, the first outer shell 21 is provided with a fastening hole 212 on each of the opposite sides of the first column 82, and the two fastening holes 212 are respectively provided with fasteners 85 abutting against the opposite sides of the first column 82.

[0041] In some embodiments, one end of the safety pin 80 has a laterally penetrating loop hole 86, and a rope connecting loop 87 is hung at the loop hole 86. The rope connecting loop 87 is configured to connect a rope 88 and to the load chamber 40 via the rope 88. The load chamber 40 is provided with a rope connecting portion 45.

[0042] In some embodiments, mounting plates 213 and 313 extend from the end of the first housing 21 away from the second housing 31 and the end of the second housing 31 away from the first housing 21, respectively. Cable harnesses S are mounted on the mounting plates 213 and 313, respectively. Each cable harness S includes a cable harness plate S1 and fixing plates S2 extending outward from both ends of the cable harness plate S1. The cable harness plate S1 arches to one side to form cable harness grooves S3 for securing the connecting wires connected to the first connector 22 or the second connector 32. A first mounting hole S21 is formed on the fixing plate S2. The mounting plates 213 and 313... 3. Corresponding to the first mounting hole S21, second mounting holes 214 and 314 are respectively provided. When the wire harness S is installed on the mounting plates 213 and 313, the open end of the wire harness groove S3 faces the mounting plates 213 and 313, and the fixing plate S2 is attached to the mounting plates 213 and 313. The first mounting hole S21 is directly opposite the second mounting holes 214 and 314. The wire harness S is fixed to the mounting plates 213 and 313 by fasteners provided in the first mounting holes S21 and the second mounting holes 214 and 314, and the mounting plates 213 and 313 are connected to the truss connector 70 or the load cell 40. Through the above technical means, on the one hand, the wire harness S is fixed to the first outer shell 21 or the second outer shell 31, and on the other hand, the first outer shell 21 is fixed to the load cell 40 at the load end, and the second outer shell 31 is fixed to the truss connector 70 at the airship end.

[0043] In some embodiments, the first housing 21 has a through-hole 215 and first mounting holes 216 located on both sides of the through-hole 215. The first connector 22 includes a first main body structure 222 and a first mounting plate 223 extending outward from the periphery of the first main body structure 222. The first mounting plate 223 has a second mounting hole 224. The first main body structure 222 is adapted to be disposed at the first opening 215. The first mounting plate 223 is attached to the first housing 21. The second mounting hole 224 and the first mounting hole 216 are aligned. The first connector 22 is fixedly installed on the first housing 21 by fasteners disposed in the second mounting hole 224 and the first mounting hole 216. Reliable assembly of the first connector 22 is achieved through this technique.

[0044] In some embodiments, the second housing 31 has a through-hole 315 and third mounting holes 316 located on both sides of the through-hole 315. The second connector 32 includes a second main body structure 322 and a second mounting plate 323 extending outward from the periphery of the second main body structure 322. The second mounting plate 323 has a fourth mounting hole 324. The second main body structure 322 is adapted to be disposed at the second opening 315. The second mounting plate 323 is attached to the second housing 31. The fourth mounting hole 324 and the third mounting hole 316 are directly opposite each other. The second connector 32 is fixedly mounted on the second housing 31 by fasteners disposed in the fourth mounting hole 324 and the third mounting hole 316. This technical means achieves reliable assembly of the second connector 32.

[0045] In some embodiments, the second outer shell 31 protrudes a boss 317 toward the first outer shell 21, the boss 317 having a recessed groove 3171, and a second opening 315 and a third mounting hole 316 are formed on the bottom wall of the groove 3171; the first outer shell 21 protrudes a retaining portion 217 toward the peripheral area of ​​the second outer shell 31; when the load-end connector 20 and the airship-end connector 30 are docked, the boss 317 is adapted to be inserted into the inner side of the retaining portion 217. Of course, the first outer shell 21 may form a boss, and the second outer shell 31 may form a retaining portion.

[0046] In some embodiments, two first connectors 22 arranged side-by-side are installed within the first housing 21. Similarly, two second connectors 32 arranged side-by-side are installed within the second housing 31. A safety pin 80 is inserted between the two first connectors 22 and the two second connectors 32.

[0047] In some embodiments, the connection lines connected to each terminal 226 of the first connector 22 include a data bus and a power bus. The first connector 22 is connected to the controller 51 at the load end via the data bus and to the energy management module 52 at the load end via the power bus. The connection lines connected to each terminal 336 of the second connector 32 include a data bus and a power bus. The second connector 32 is connected to the equipment at the airship end via the data bus and the power bus.

[0048] In some embodiments, the control device 50 includes a controller 51, a communication module 53 electrically connected to the controller 51, and an energy management module 52. The energy management module 52 is connected to a battery 54 and can supply power to the controller 51 and the like.

[0049] A data bus connects the communication module 53 to the payload-side connector 20 and the airship-side connector 30 to the airship-side equipment.

[0050] An energy bus connects the energy management module 52 to the payload-side connector 20 and the airship-side connector 30 to the airship-side equipment.

[0051] In addition, the communication module 53 can be used to communicate with the ground station for information transmission and receiving control commands.

[0052] Specifically, the control device 50 includes a first switch 551 electrically connected to the controller 51, and the controller 51 switches the electrical on / off state between the load-side connector 20 and the airship-side connector 30 by controlling the first switch 551.

[0053] Specifically, the control device 50 includes a second switch 552 electrically connected to the controller 51. The controller 51 controls the second switch 552 to separate the separation structure 10. The separation structure 10 may be a burst screw. How the controller 51 controls the setting of the burst screw by controlling the second switch 552 is known to those skilled in the art and will not be described in detail here.

[0054] Specifically, the control device 50 includes a third switch 553 electrically connected to the controller 51, which controls the third switch 553 to open the parachute 60. How the controller 51 controls the opening of the parachute 60 by controlling the third switch 553 is known to those skilled in the art and will not be described further here.

[0055] Specifically, the control device 50 includes a satellite positioning module 561, an IMU module 562, a barometer 563, and a temperature control module 564, which are electrically connected to the controller 51.

[0056] More specifically, the controller 51, communication module 53, energy management module 52, satellite positioning module 561, IMU module 562, barometer 563, and temperature control module 564 are housed within the pressure-resistant and temperature-controlled chamber 57. The sensors and satellite positioning modules are primarily located in area A of the pressure-resistant and temperature-controlled chamber 57. A backup battery 58 may also be installed within the pressure-resistant and temperature-controlled chamber 57.

[0057] In some embodiments, the parachute 60 is connected to the payload compartment 40 via a parachute separator 61, and the control device 50 is configured to control the parachute separator 61 to separate the parachute 60 from the payload compartment 40.

[0058] Specifically, the control device 50 includes a fourth switch 554 electrically connected to the controller 51. The controller 51 controls the fourth switch 554 to separate the parachute separator 61. The parachute separator 61 may be a burst screw. How the controller 51 controls the setting of the burst screw by controlling the fourth switch 554 is known to those skilled in the art and will not be described in detail here.

[0059] Please combine Figures 1 to 14This application also discloses a payload recovery method for the airship and payload equipment as described above, comprising the following steps: The control device 50 controls the disconnection of the electrical connection between the load-end connector 20 and the airship-end connector 30, that is, by controlling the first switch 551 to switch the electrical connection state between the load-end connector 20 and the airship-end connector 30 to the electrical disconnect state. Control device 50 controls the separation structure 10 to separate the load end from the airship end; When the payload falls under its own weight, it pulls the payload-end insertion 20 to separate from the airship-end insertion 30. Control device 50 switches from the levitation control phase to the descent control phase; During the descent control phase, control device 50 controls the parachute 60 to open.

[0060] The payload recovery method of this application embodiment can decouple the payload end and the airship end, realize the independent and safe recovery of the payload end, without the airship end participating in the recovery control, and the airship end can remain in orbit, avoiding the technical problems caused by overall recovery.

[0061] Specifically, during the descent control phase, after the control device 50 controls the parachute 60 to open, the aforementioned payload recovery method further includes: Once the control device 50 detects that the load end has landed, it switches from the descent control phase to the landing control phase and controls the parachute separation component 61 to separate the parachute 60 from the load compartment 40.

[0062] After the parachute 60 separation control is completed, the current position can be broadcast in real time through the communication module 53 to facilitate the recovery personnel.

[0063] Specifically, the control phases of the control device 50 include not only the levitation control phase, the descent control phase, and the landing control phase, but also the ground control phase and the ascent control phase preceding the levitation control phase.

[0064] Recovery control is prohibited during both the ground control and ascent control phases to protect the system. Upon power-up, the control board enters the ground control phase. When the current conditions meet the requirements for the ascent control phase, it switches to the ascent control phase. During the ascent control phase, if the conditions for performing the mission in the air are met, it enters the airborne control phase.

[0065] During the buoyancy control phase, the payload recovery function has two modes: manual recovery control and automatic recovery control.

[0066] Manual recovery control requires a password to be entered at the ground station. Once the password is verified, access is granted, and the ground station can control the recovery process. In this mode, the ground station can freely control the timing of each step, but they must be triggered sequentially to ensure the reliability of the recovery process.

[0067] Automatic recovery control is based on pre-configured conditions. When the controller 51 detects that the current recovery conditions are met, it automatically triggers the control of load recovery and triggers the recovery steps in sequence according to the set conditions to achieve accurate recovery.

[0068] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the scope of this application shall still fall within the scope of this application.

Claims

1. An airship and load arrangement, characterized by The load end and the airship end are connected by a separation structure, the load end is provided with a load end navigation plug, the airship end is provided with an airship end navigation plug, the load end navigation plug and the airship end navigation plug are connected to realize electrical connection of the load end and the airship end, the load end includes a load compartment, a load device and a control device arranged in the load compartment, and a parachute connected with the load compartment, the control device is configured to control the separation structure to separate the load end and the airship end and control the parachute to open, and the load end falls to separate the load end navigation plug from the airship end navigation plug.

2. The airship and load equipment of claim 1, wherein, One end of the separation structure is fixedly connected with the load compartment, and the other end of the separation structure is fixedly connected with a truss connector.

3. The airship and load apparatus of claim 1 wherein, The load end navigation plug includes a first shell and a first connector fixedly arranged in the first shell, and the first shell is connected with the load compartment; the airship end navigation plug includes a second shell and a second connector fixedly arranged in the second shell, and the second shell is connected with a truss of the airship end; the first connector and the second connector are separably connected together, the first connector is electrically connected with the control device, and the second connector is electrically connected with a device of the airship end; an insurance pin is arranged on the first shell and the second shell, one end of the insurance pin is provided with a laterally elastically flexible clamping protrusion, a first through hole is arranged on the first shell, and a second through hole is arranged on the second shell, the insurance pin passes through the first through hole and the second through hole in sequence after the load end navigation plug and the airship end navigation plug are connected, the clamping protrusion is elastically extruded outward after passing through the second through hole, and the insurance pin is connected with the load compartment.

4. The airship and load equipment according to claim 1, wherein the control device includes a controller, a communication module and an energy management module electrically connected with the controller; a data bus is connected between the communication module and the load end navigation plug and between the airship end navigation plug and the device of the airship end; and / or an energy bus is connected between the energy management module and the load end navigation plug and between the airship end navigation plug and the device of the airship end.

5. The airship and load equipment according to claim 4, wherein the control device includes a first switch electrically connected with the controller, and the controller switches on and off the electrical connection between the load end navigation plug and the airship end navigation plug by controlling the first switch; and / or the control device includes a second switch electrically connected with the controller, and the controller controls the separation structure to separate by controlling the second switch; and / or the control device includes a third switch electrically connected with the controller, and the controller controls the parachute to open by controlling the third switch.

6. The airship and load apparatus of claim 4, wherein, The control device comprises a satellite positioning module, an IMU module, a barometer and a temperature control module electrically connected with the controller.

7. The airship and payload arrangement of claim 6 wherein, The controller, the communication module, the energy management module, the satellite positioning module, the IMU module, the barometer and the temperature control module are arranged in the pressure-resistant constant-temperature box.

8. The airship and load equipment of claim 1 wherein, The control device is configured to control the parachute separation member to separate the parachute and the load compartment.

9. A method of recovering a payload from a payload-carrying airship as claimed in any one of claims 1 to 7, characterized in that, The method comprises the following steps: The control device controls the electrical connection between the load end and the airship end to be disconnected; The control device controls the separation structure to separate the load end and the airship end; When the load end falls by its own gravity, the load end pulls the load end and the airship end apart; The control device switches from the floating control phase to the descending control phase; In the descending control phase, the control device controls the parachute to open.

10. A method of recovering a payload of a flying boat and payload assembly as defined in claim 8, wherein, The method comprises the following steps: The control device controls the electrical connection between the load end and the airship end to be disconnected; The control device controls the separation structure to separate the load end and the airship end; When the load end falls by its own gravity, the load end pulls the load end and the airship end apart; The control device switches from the floating control phase to the descending control phase; In the descending control phase, the control device controls the parachute to open; When the control device monitors that the load end has landed, it switches from the descending control phase to the landing control phase and controls the parachute separation member to separate the parachute and the load compartment.

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