Since the unmanned vehicles have been widely used in military and civil applications, the cooperation of hybrid vehicles are urgently required. In this paper, we mainly research on the collaboration of Blimp, UAVs, UGVs, USVs, and UUVs. A four-layer cooperation architecture was presented. And then, their interaction, task generation and allocation, cooperation mechanism was were analyzed. At last we presented a demonstration platform, which is consisted of a Blimp, two quad-rotors, and four UGVs, to verify our architecture and theory.