Modularized movable battery replacing platform for offshore unmanned aerial vehicle and operation method of modularized movable battery replacing platform

Abstract

The invention belongs to the technical field of unmanned aerial vehicle charging and ocean engineering, discloses a modular movable battery replacing platform for an offshore unmanned aerial vehicle and an operation method of the modular movable battery replacing platform, and aims to solve the endurance problem caused by insufficient power in the operation process of the offshore unmanned aerial vehicle. The device is composed of a plurality of floating modules and a head flow guide module which are in flexible chain type connection through spherical hinge connectors, mechanical arms and connecting rods. The platform charges the battery of the unmanned aerial vehicle through the energy storage unit by depending on clean energy provided by an offshore wind driven generator. A single-point mooring system is adopted for the platform, stability is achieved through a mooring buoy, a mechanical arm, a connecting rod and a rotating connector, free rotation is achieved according to the wave direction, and it is ensured that the platform keeps stable under the severe sea condition. The platform further has good mobility, the electric tugboat and the auxiliary boat can drag the platform to different operation sea areas, and various task requirements are met. According to the invention, through modular design and clean energy power supply, the continuity and environmental protection property of the operation of the offshore unmanned aerial vehicle are effectively improved.

Description

Technical Field

[0001] The present invention relates to the fields of unmanned aerial vehicle charging technology and marine engineering technology, and in particular to a modular movable power exchange platform for offshore unmanned aerial vehicles and an operation method thereof. Background Art

[0002] Currently, drones are widely used in many fields, especially in oceans and coastal areas, including environmental monitoring, maritime patrols, logistics and transportation, and rescue missions. However, limited by battery technology, the endurance of drones is still a key bottleneck. Most drones must return to shore-based charging stations or replace batteries after completing a period of flight missions, which not only reduces operational efficiency, but also wastes precious flight time due to frequent returns, especially in offshore operations. In addition, shore-based charging stations usually occupy valuable land resources, and have high construction and maintenance costs, especially in coastal cities and port areas, where land resources are tight, limiting the construction of large-scale charging infrastructure.

[0003] At the same time, the rapid development of the offshore wind power industry has provided new opportunities for the power supply of drones. As a renewable energy source, wind power has a stable and continuous power generation capacity, which can provide clean energy for drones, reduce dependence on fossil fuels, and effectively reduce carbon emissions. However, since there may be a certain distance between offshore wind farms and the operating sea areas where drones perform missions, this limits the possibility of wind farms directly powering drones.

[0004] Therefore, there is an urgent need for a mobile and flexible solution that can combine offshore wind power resources to provide reliable charging and battery replacement services for drones, so as to improve the endurance of drones, reduce carbon emissions during operations, and achieve a green and efficient drone operation mode. Summary of the invention

[0005] The present invention aims to provide a modular mobile battery replacement platform for offshore drones and its operation method, which can solve the problems of endurance and mobility of charging facilities of offshore drones, and at the same time, combine with marine infrastructure such as offshore wind farms to manage and supply energy, solve the problems of insufficient endurance, high construction cost of charging facilities, and poor flexibility in existing drone power supply solutions. By combining with offshore wind farms, the platform can provide flexible charging and battery replacement services for drones, improve the efficiency and endurance of drone operations, and effectively utilize renewable energy to reduce carbon emissions in drone operations.

[0006] The main technical scheme of the present invention is as follows: A modular movable power exchange platform for offshore drones, comprising: a floating module 1, a diversion module 2, a ball joint connector 3, a mechanical arm 4, a connecting rod 5, a tugboat 6, a towline 7, a triangular eye plate 8, a fairlead 9, an energy storage unit 11, a charging cable 12, a wind turbine 13, a drone 14, a drone battery 15, a drone platform 16, a mooring cable 17, a mooring pile 18 and a single-point mooring system;

[0007] The floating modules 1 are used to carry the energy storage unit 11 and the drone 14; the floating modules 1 are arranged in a straight line through a ball joint connector 3, a mechanical arm 4 and a connecting rod 5 to form a chain structure; when the number of floating modules 1 increases, the traction demand of the tugboat 6 does not increase;

[0008] The guide module 2 is connected to one end of the chain structure, and a fairlead 9 is arranged on the guide module 2; the tugboat 6 is connected to the fairlead 9 through a towing cable 7 and a triangular eye plate 8;

[0009] A mooring pile 18 is provided on the drone platform 16; the drone platform 16 is connected to one side of the floating module 1 through a mooring cable 17 and a mooring pile 18; a drone 14 and a drone battery 15 are arranged on the drone platform 16; the drone battery 15 is connected to the energy storage unit 11 through a charging cable 12;

[0010] The other end of the chain structure is connected to a single point mooring system for positioning, and the energy storage unit 11 is connected to a wind turbine 13 via a charging cable 12 .

[0011] Furthermore, the ball-joint connector 3 is used to connect adjacent floating modules 1 and diversion modules 2; the ball-joint connector 3 includes a convex ball joint 22, a concave ball joint 23 and a hydraulic telescopic rod 24; the opening diameter of the concave ball joint 23 is larger than the diameter of the convex ball joint 22, and the inner wall is covered with a flexible cushion layer for cushioning collision during insertion; the hydraulic telescopic rod 24 is evenly arranged on the inner wall of the concave ball joint 23, and the convex ball joint 22 is locked or released by hydraulically driving the hydraulic telescopic rod 24 to extend and retract; the hydraulic telescopic rod 24 increases the compression of the flexible cushion layer by adjusting the length and pressure, thereby achieving adjustment of the rotational damping or complete locking.

[0012] Furthermore, the robot arm 4 includes a multi-degree-of-freedom joint 25 and a clamp 26; an electromagnetic adsorption device is configured at the end of the clamp 26 to attract and connect the connecting rod 5 through electromagnetic force.

[0013] Furthermore, the floating module 1 also includes embedded FRP ribs 19, optical fiber sensors 20 and an anti-collision device 21 arranged at the bottom of the module; the material of the floating module 1 is seawater and sea sand concrete, and the FRP ribs 19 are embedded to enhance strength and corrosion resistance; the optical fiber sensor 20 is integrated in the FRP ribs 19 to achieve structural health monitoring of the floating module 1; the material of the anti-collision device 21 is high elastic rubber, which is used to buffer collisions between modules or with other objects.

[0014] Furthermore, the single-point mooring system includes a mooring buoy 27, a rotating joint 28, an anchor chain 29 and an anchor foundation 30; the single-point mooring system grasps the connecting rod 5 of the rotating joint 28 on the upper part of the mooring buoy 27 through the mechanical arm 4 of the floating module 1 at the other end of the chain structure to perform mooring positioning; the rotating joint 28 allows the modular movable power exchange platform for offshore drones to rotate freely around the mooring buoy 27 to adapt to different wave directions.

[0015] Furthermore, the tugboat 6 is connected to the guide module 2 via a tow cable 7; and the triangular eye plate 8 is used to decompose the tow cable 7 to enhance the stability of the platform during towing.

[0016] An operating method of a modular movable power-exchange platform for offshore drones comprises the following steps: the modular movable power-exchange platform for offshore drones is assembled in a dock, first a floating module 1 is fixed, and then the position of another floating module 1 is adjusted so that it is connected through an articulated connector 3, a mechanical arm 4, and a connecting rod 5, and then the above operation is repeated, and finally the diversion module 2 is connected; the tugboat 6 is connected to the diversion module 2 through a tow cable 7, and the modular movable power-exchange platform for offshore drones is towed to a wind farm area, and an auxiliary ship 10 is connected to the side of the floating module 1 at the other end of the chain structure, and the platform position is adjusted so that the mechanical arm 4 of the floating module 1 at the other end of the chain structure grabs the connecting rod 5 on the mooring buoy 27 to achieve leveling. The modular mobile power exchange platform for offshore drones is fixed to a single point of the platform; through the rotating joint 28, the modular mobile power exchange platform for offshore drones can rotate freely according to the sea conditions and maintain stability; the modular mobile power exchange platform for offshore drones charges the energy storage unit 11 through the electricity generated by the wind turbine 13. After the energy storage is completed, the modular mobile power exchange platform for offshore drones is towed to the drone platform 16 for docking by the tugboat 6, and is fixed to the mooring pile 18 by the mooring cable 17; the modular mobile power exchange platform for offshore drones transmits the power of the energy storage unit 11 to the drone battery 15 of the drone platform 16 through the charging cable 12, and replaces the battery for the drone 14 on the marine platform, ensuring that the drone can continue to perform marine missions.

[0017] Furthermore, the modular movable battery-swapping platform for offshore UAVs is towed to the UAV operating sea area and positioned through a single-point mooring system for the UAV to park and perform battery-swapping operations.

[0018] Beneficial effects of the present invention:

[0019] (1) Providing a platform for endurance of drones at sea: The platform is compatible with various types of drones, including those for patrol, monitoring, logistics and other missions, and is adaptable to a variety of application scenarios. Through the modular and mobile battery swap platform, drones can obtain flexible charging and battery replacement support when operating at sea, avoiding frequent return flights for charging, thereby significantly extending their endurance and improving the continuity and efficiency of mission execution.

[0020] (2) Flexible deployment to adapt to changing operational needs: The modular design and movable platform of the present invention can adjust the scale according to the mission requirements, and the platform can be quickly deployed to different sea areas through electric tugboats. Through the triangular eye plate and double cable traction design, the platform has high stability during towing, ensuring that the platform is safe and reliable during movement, and can flexibly respond to changes in the offshore operating environment.

[0021] (3) Efficient use of clean energy: The platform relies on offshore wind farms to obtain renewable energy and uses energy storage units to provide power support for drone charging and battery replacement. This not only reduces dependence on traditional fossil fuels and reduces carbon emissions in drone operations, but also complies with the current global environmental protection and sustainable development goals.

[0022] (4) Stable mooring and mobility: Through the single-point mooring system, the platform can maintain its position firmly at sea, and the swivel joint enables the platform to rotate freely according to the wave direction, reducing the impact of waves on the platform. At the same time, the convenient mooring and unmooring functions of the single-point mooring system ensure that the platform can be quickly deployed or evacuated from the operating area, improving the flexibility and work efficiency of the platform.

[0023] Through flexible modular design, efficient clean energy utilization and convenient mooring methods, the present invention solves the endurance problem in offshore UAV operations, improves operating efficiency, and provides technical support for green offshore UAV operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic top view of the towing process of a modular movable power exchange platform for a marine UAV according to the present invention.

[0025] Figure 2 The figure is a schematic front view of the towing process of a modular movable battery exchange platform for a marine UAV according to the present invention, wherein the upper dotted line represents the sea level.

[0026] Figure 3 It is a top view schematic diagram of offshore wind farm energy storage of a modular movable power exchange platform for offshore UAVs of the present invention.

[0027] Figure 4 It is a schematic side view of an offshore wind farm energy storage of a modular movable power exchange platform for offshore drones of the present invention, wherein the upper dotted line represents the sea level, and the lower thick solid line represents the seabed.

[0028] Figure 5 The present invention is a schematic top view of a modular movable power exchange platform for a marine drone for charging a drone platform.

[0029] Figure 6 The present invention is a top view schematic diagram of a modular movable power exchange platform for charging a drone at sea.

[0030] Figure 7 It is a schematic top view of module replacement of a modular movable power exchange platform for a marine UAV according to the present invention.

[0031] Figure 8 It is a schematic diagram of modular expansion of a modular movable power exchange platform for a marine UAV according to the present invention.

[0032] Fig. 9 It is a top view cross-sectional schematic diagram of a floating module of a modular movable power exchange platform for an offshore UAV according to the present invention.

[0033] Fig.10 It is a schematic diagram of an articulated connector of a modular movable power exchange platform for a marine UAV according to the present invention.

[0034] Fig.11 It is a schematic diagram of a mechanical arm of a modular movable power exchange platform for a marine UAV according to the present invention.

[0035] In the figure: 1- floating module; 2- diversion module; 3- ball joint connector; 4- mechanical arm; 5- connecting rod; 6- tugboat; 7- tow cable; 8- triangular eye plate; 9- fairlead; 10- auxiliary ship; 11- energy storage unit; 12- charging cable; 13- wind turbine; 14- UAV; 15- UAV battery; 16- UAV platform; 17- mooring cable; 18- mooring pile; 19- FRP tendon; 20- optical fiber sensor; 21- anti-collision device; 22- convex ball joint; 23- concave ball joint; 24- hydraulic telescopic rod; 25- joint; 26- clamp; 27- mooring buoy; 28- swivel joint; 29- anchor chain; 30- anchor foundation. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0037] A modular movable power exchange platform for offshore drones, comprising: a floating module 1, a diversion module 2, a ball joint connector 3, a mechanical arm 4, a connecting rod 5, a tugboat 6, a towline 7, a triangular eye plate 8, a fairlead 9, an auxiliary ship 10, an energy storage unit 11, a charging cable 12, a wind turbine 13, a drone 14, a drone battery 15, a drone platform 16, a mooring cable 17, a mooring pile 18 and a single-point mooring system.

[0038] The modular energy storage floating body 1 includes: FRP ribs 19 , optical fiber sensors 20 , and an anti-collision device 21 .

[0039] The ball joint connector 3 includes: a convex ball joint 22 , a concave ball joint 23 , and a hydraulic telescopic rod 24 .

[0040] The robot arm 4 includes a joint 25 and a clamp 26 .

[0041] The single point mooring system comprises: a mooring buoy 27 , a swivel joint 28 , an anchor chain 29 , and an anchor foundation 30 .

[0042] The floating module 1 is used to carry the energy storage unit 11 and the drone 14. The material is seawater sand concrete and embedded with FRP bars 19. The optical fiber sensor 20 is integrated in the FRP bars 19, so that the structure has high strength and corrosion resistance, and can intelligently monitor the health of the structure. Each floating module 1 is flexibly connected by a ball joint connector 3, a mechanical arm 4, and a connecting rod 5. All modules are connected end to end to form a linear array assembled into a chain-arranged platform; the chain expansion arrangement makes the increase in the number of modules have no significant effect on the traction demand of the tugboat. The tugboat only needs to maintain the linear movement of the towing chain arrangement, and there is no need to provide additional traction for the additional modules. The outermost side of the platform is connected to the diversion module 2, which is a triangular structure, which can effectively reduce the hydrodynamic resistance and improve the towing efficiency of the platform. The number of floating modules 1 can be flexibly selected according to the number of drones 14 and charging requirements. The anti-collision device 21 is installed at the bottom of each floating module 1 to prevent possible module collisions. Its material is high elastic rubber.

[0043] The tugboat 6 is used to tow the platform to an offshore wind farm or other marine energy output area for charging; after the energy storage unit 11 is fully charged, the platform is towed to the operating area of ​​the drone 14 to power the drone 14 or the drone platform 16. The tugboat 6 is connected to the diversion module 2 via a tow cable 7; the triangular eye plate is used to decompose the tow cable 7 into two, thereby enhancing the stability of the platform during towing and effectively preventing the platform from swinging or deflecting under the influence of waves. The cable guide 9 is arranged on the upper part of the diversion module 2 and each floating module 1, and is used for guiding and fixing the tow cable 7 and the mooring cable 17.

[0044] The mechanical arm 4 and the connecting rod 5 are arranged on both sides of each floating module 1 and the tail of the diversion module, and are used for the preliminary connection between adjacent modules and the single-point mooring positioning of the platform. The mechanical arm 4 includes a joint 25 and a clamp 26, which can achieve flexible movement; the clamp 26 is equipped with an electromagnetic adsorption device, and when the clamp 26 is close to the connecting rod 5, the connecting rod 5 is adsorbed and grasped by adjusting the electromagnetic force; the material of the connecting rod 5 is magnetic metal, which is used for the adsorption of the clamp 26.

[0045] The single-point mooring system is used for the mooring and positioning of the platform. The mechanical arm 4 of the platform tail module grabs the connecting rod 5 of the rotary joint 28 on the upper part of the mooring buoy 27 to achieve mooring and positioning, so that it can maintain a stable position when charging in the offshore wind farm sea area and adjust according to environmental conditions. The single-point mooring system has convenient mooring and unmooring characteristics, which is suitable for the frequent movement and deployment of the modular movable platform. By simplifying the mooring operation, the platform can be quickly fixed and released, so that the platform can be flexibly moved between different operating sea areas and reduce downtime. The mooring buoy 27 is connected to the anchor foundation 30 through the anchor chain 29, which is used for the mooring of the platform and provides buoyancy support to ensure the stability of the platform in the marine environment. The rotary joint 28 is installed on the upper part of the mooring buoy 27 to allow the platform to rotate freely around the mooring buoy 27, adapt to different wave directions, and thus reduce the impact of waves on the stability of the platform. The anchor chain 29 connects the mooring buoy 27 with the seabed anchor foundation 30, provides stable mooring support, and ensures that the platform is not washed away from the predetermined position by the waves. The anchor foundation 30 is used to fix the infrastructure on the seabed to ensure that the platform can remain fixed in severe sea conditions and provide long-lasting mooring support, and is in the form of gravity anchors, suction cylinders, etc.

[0046] The auxiliary ship 10 provides support during the platform deployment and towing process, and is mainly used for auxiliary tasks such as platform stoppage, precise positioning, and adjustment of module position; it can also be used as a tugboat to complete the towing of the platform when necessary. When the platform stops, the auxiliary ship 10 connects to the tail module through the tow cable 7, and tows in the direction, so that the platform gradually slows down and finally stops; when the platform is moored and positioned, the auxiliary ship 10 connects to the side of the tail module through the tow cable 7, cooperates with the tugboat 6 to tow the platform, adjusts the platform position, and enables the tail module mechanical arm 4 to grab the connecting rod 5 on the upper part of the mooring buoy 27.

[0047] The energy storage unit 11 is mainly used to store the electric energy of the wind turbine 13, and can also store other marine renewable energy (such as ocean wave energy, tidal energy, etc.) to provide continuous power support for the drone 14 and other offshore operating equipment. The energy storage unit 11 is equipped with an intelligent energy management system to ensure the stable energy supply of the platform in various environments.

[0048] The charging cable 12 is not only used to charge the UAV platform 16, but also used to transmit the energy generated by the wind turbine to the energy storage unit 11 of the platform, ensuring that the platform can continuously obtain clean energy for power supply.

[0049] The drones 14 are of various types, including drones for patrol, monitoring, logistics and distribution, etc. The drone platform 16 can adapt to various types of drones and provide drone battery 15 replacement support, thereby improving the endurance and mission efficiency of the drone; its structure can be fixed or semi-submersible. When the modular movable battery exchange platform is towed to the drone platform 16, the platform is positioned through the mooring cable 17 and the mooring pile 18, and then the drone battery 15 on the drone platform 16 is powered by the charging cable 12, thereby realizing the battery replacement of the drone 14.

[0050] In addition, the modular movable battery exchange platform itself can also be used as a take-off and landing platform for the UAV 14 and provide it with battery exchange services.

[0051] The ball joint connector 3 includes a convex ball joint 22, a concave ball joint 23, and a hydraulic telescopic rod 24, which are used to achieve connection between adjacent modules; a convex ball joint 22 and a concave ball joint 23 are installed on both sides of each floating module 1; the opening diameter of the concave ball joint 23 is larger than the diameter of the convex ball joint 22, which is convenient for the insertion of the convex ball joint 22, and the interior is covered with a flexible cushion layer to reduce collision; the hydraulic telescopic rod 24 is evenly arranged on the inner wall of the concave ball joint 23, and can be flexibly extended and retracted through a hydraulic drive system.

[0052] When the modular movable power exchange platform for offshore drones is connected to modules in a single-point mooring state, the target module is single-point moored to the mooring buoy 27, and the module to be connected is adjusted in position by the tugboat 6 and the auxiliary ship 10, so that the tail module of the module to be connected is close to the target module, and the mechanical arm 4 grabs the connecting rod 5 of the target module to achieve a preliminary connection, and then the relative position of the module is adjusted by the mechanical arm, so that the convex ball joint 22 is inserted into the concave ball joint 23, and then the hydraulic telescopic rod 24 is started, and the hydraulic telescopic rod 24 is synchronously extended, and the flexible cushion layer fits the convex ball surface to complete the mechanical locking. After the ball joint connector 3 is connected, the friction force is increased by adjusting the length of the hydraulic telescopic rod 24 to compress the cushion layer, so as to achieve flexible adjustment or complete locking of the rotational damping, and prevent module collision during towing and operation. When the module is disassembled, the hydraulic telescopic rod 24 is retracted to unlock the ball joint connector, and then the mechanical arm 4 and the connecting rod 5 are released to achieve complete separation of the module.

[0053] Figure 1 and Figure 2The schematic diagrams of the modular movable power exchange platform of the present invention in the towing process are shown in top view and front view. Adjacent floating modules 1 are sequentially connected to form a chain platform through ball joint connectors 3, and an energy storage unit 11 is deployed on the top of each floating module 1; the tugboat 6 is an electric tugboat, which is connected to the triangular eye plate 8 through a tow cable 7, and is divided into a double cable to connect the fairlead 9 of the guide module 2 to ensure stability during towing and avoid interference from sea waves; the auxiliary ship 10 is an electric auxiliary ship, located at the side and rear of the platform, to assist the platform in towing, stopping, positioning and other operations, and can also be used as a tugboat.

[0054] Figure 3 and Figure 4 The schematic diagrams of the modular movable power exchange platform of the present invention storing energy in a wind farm from top view and front view are shown. The platform is towed from the port to the operating sea area near the offshore wind farm by an electric tugboat, and positioned by a pre-deployed single-point mooring system; the position of the platform is adjusted by the coordinated operation of the electric tugboat and the electric auxiliary ship, so that the mechanical arm 4 of the tail module of the platform can absorb and grab the connecting rod 5 on the upper part of the mooring buoy 27 to achieve mooring positioning; the anchor chain 29 connects the mooring buoy 27 with the anchor foundation 30 to ensure that the platform remains stable at sea. The rotary joint 28 allows the platform to rotate freely according to the wave direction, reducing the impact of waves on the stability of the platform; the platform obtains electricity from the nearby wind turbine 13 through the charging cable 12, and the electrical energy is stored in the energy storage unit 11 for charging drones and the power needs of the platform. The energy storage unit can simultaneously store other marine renewable energy sources, such as wave energy or tidal energy, to ensure that the platform has continuous power supply capabilities.

[0055] Figure 5 The schematic diagram of the top view of the modular movable power exchange platform of the present invention for powering the UAV platform is shown. After the platform finishes storing energy from the wind farm, it is towed to the sea area of ​​the UAV platform 16, and the platform is moored by mooring cables 17 and mooring piles 18, and a charging cable 12 is provided to power the UAV battery 15 on the upper part of the UAV platform 16. The UAV platform 16 can be fixed or semi-submersible, and is used as a parking platform for offshore UAVs 14; UAVs 14 are mainly used to perform tasks such as marine monitoring, border patrols or logistics transportation. When the UAV power drops, it will automatically return to the UAV platform 16. The UAV platform 16 is equipped with multiple sets of UAV batteries 15, which can replace batteries for multiple UAVs at the same time.

[0056] Figure 6 The schematic diagram of the modular mobile power exchange platform of the present invention supplying power to the UAV is shown in a top view. The modular mobile power exchange platform of the present invention can also be used as a parking platform for the UAV and can be used to replace the battery of the UAV 14, providing a flexible power exchange platform for the offshore UAV 14; a single-point mooring system is deployed in the sea area where the UAV is operating, so as to provide positioning for the modular mobile power exchange platform.

[0057] Figure 7 The schematic diagram of the top view of the modular movable battery exchange platform module replacement of the present invention is shown. When the power of the energy storage unit 11 on the upper part of the platform is about to be exhausted, the fully charged platform is towed to the UAV operation area by towing, and fixed to the other side of the single-point mooring system for the UAV to park and perform battery exchange operations; then the original platform is towed to the wind farm sea area by an electric tugboat for energy replenishment.

[0058] Figure 8 The schematic diagram of the modular expansion of the modular mobile battery exchange platform of the present invention is shown in the top view. The modular design of the platform allows the number of modules to be flexibly adjusted according to the scale of the operation to adapt to different mission scenarios.

[0059] Fig. 9 The top view of the floating module of the present invention is shown. The floating module 1 is made of seawater offshore concrete material, with FRP ribs 19 embedded inside and optical fiber sensors 20 integrated into the FRP ribs 19, which effectively enhances the strength, corrosion resistance and self-sensing properties of the structure and realizes intelligent health monitoring of the platform.

[0060] Fig.10 The schematic diagram of the ball joint connector of the present invention is shown. The ball joint connector 3 comprises a convex ball joint 22, a concave ball joint 23, and a hydraulic telescopic rod 24; the opening diameter of the concave ball joint 23 is larger than the diameter of the convex ball joint 22, the inner wall is covered with a flexible cushion layer, and a plurality of hydraulic telescopic rods 24 are evenly arranged; when the convex ball joint 22 is inserted into the concave ball joint 23, the hydraulic telescopic rod 24 is extended to achieve the locking of the ball joint connector 3.

[0061] Fig.11 The schematic diagram of the robot arm of the present invention is shown. The robot arm 4 includes multiple joints 25, which allow it to rotate flexibly, and the end is a clamp 26 equipped with an electromagnetic adsorption device, which can grasp or release the connecting rod 5 by adjusting the current strength to achieve the initial connection between modules and the mooring positioning of the platform.

[0062] The present invention is designed to combine the following factors:

[0063] (1) Adaptability to offshore environments: The platform must have a good wind and wave resistance design to ensure that it can remain stable in complex marine environments (such as strong winds and large waves). The design of the floating module should ensure that it can float and be stable in various sea conditions. At the same time, the articulated connector must have a certain degree of flexibility to cope with the impact of waves and the relative displacement between floating modules.

[0064] (2) Automation of drone charging and battery replacement: The platform design needs to be based on the characteristics of drone batteries and be equipped with an interface system that can charge efficiently and safely. At the same time, the automated battery replacement device needs to be able to quickly identify the drone model and battery status, complete automatic battery disassembly and assembly, reduce manual intervention, and improve operational efficiency.

[0065] (3) Efficient use of clean energy: The platform needs to be efficiently integrated with the offshore wind farm, collect electricity from the wind turbines through charging cables, and store it in the energy storage unit. In addition to wind energy, the platform design also needs to consider the possibility of connecting to other marine renewable energy sources (such as wave energy, tidal energy, etc.) in the future to ensure sustainable energy supply.

[0066] Designing and implementing a modular mobile battery swap platform for offshore drones is a detailed and complex process involving multiple key steps. Here is the general method of operation of the system:

[0067] First of all, the design of the platform needs to fully consider the offshore environment and the needs of drone operations, including the number of modules, the capacity of the energy storage unit, and the single-point mooring positioning system of the robotic arm and the connecting rod. In terms of material selection, high-strength, corrosion-resistant FRP seawater sand concrete materials are used, and fiber optic sensors are integrated into the FRP bars to achieve health monitoring of the platform and ensure the long-term stability of the platform in harsh sea conditions.

[0068] The modular platform and equipment are manufactured on land, and the platform is assembled in the dock. First, fix one floating module and then adjust the position of the other floating module, so that the two modules are connected head to tail through articulated connectors, mechanical arms, and connecting rods. Repeat the above operations to assemble the entire platform, and finally connect the diversion module at the head. After completion, the electric tugboat connects the tow cable to the diversion module and tows the platform to the designated sea area. After arriving at the wind farm, the platform position is adjusted through the synergy of the electric tugboat and the auxiliary ship, so that the mechanical arm at the tail of the platform will grab the connecting rod on the mooring buoy to complete the single-point mooring positioning, ensure the stable operation of the platform in the wind farm area, and use wind power to charge the energy storage unit.

[0069] When the energy storage is completed, the platform is towed by an electric tugboat to the drone platform where the drone is operating. The platform is firmly connected to the drone platform through mooring cables and mooring piles, and the power in the energy storage unit is transmitted to the drone battery on the drone platform through the charging cable to provide battery replacement services for the drone. During the whole process, the intelligent control system monitors the power status of the platform and the drone battery replacement operation in real time to ensure efficient and stable operation of the system.

[0070] At the same time, the modular movable battery exchange platform can also be used as a drone parking platform and provide battery exchange services for drones, reducing the construction cost of the drone platform and providing a flexible drone battery exchange platform.

[0071] As the demand for the platform increases, the floating module can be flexibly expanded to add more battery replacement equipment or energy storage units to accommodate larger-scale drone operations. The modular design makes the platform extremely flexible and also provides a basis for future functional upgrades (such as integrating wave energy, solar energy, etc.).

[0072] In summary, through reasonable planning, manufacturing, transportation, installation and debugging, the modular and movable battery exchange platform for offshore UAVs can be efficiently deployed and provide flexible and reliable charging and battery replacement services for UAVs.

Claims

1. A modular movable battery exchange platform for offshore drones, characterized in that: The modular movable power exchange platform for offshore unmanned aerial vehicles comprises: a floating module (1), a flow guide module (2), a ball joint connector (3), a mechanical arm (4), a connecting rod (5), a tugboat (6), a tow cable (7), a triangular eye plate (8), a cable guide (9), an energy storage unit (11), a charging cable (12), a wind turbine (13), an unmanned aerial vehicle (14), an unmanned aerial vehicle battery (15), an unmanned aerial vehicle platform (16), a mooring cable (17), a mooring pile (18) and a single-point mooring system; The floating modules (1) are used to carry energy storage units (11) and drones (14); the floating modules (1) are arranged in a straight line through a ball joint connector (3), a mechanical arm (4) and a connecting rod (5) to form a chain structure; when the number of floating modules (1) increases, the traction demand of the tugboat (6) does not increase. The guide module (2) is connected to one end of the chain structure, and a fairlead (9) is arranged on the guide module (2); the tugboat (6) is connected to the fairlead (9) via a towing cable (7) and a triangular eye plate (8); A mooring pile (18) is arranged on the drone platform (16); the drone platform (16) is connected to one side of the floating module (1) via a mooring cable (17) and a mooring pile (18); a drone (14) and a drone battery (15) are arranged on the drone platform (16); the drone battery (15) is connected to the energy storage unit (11) via a charging cable (12); The other end of the chain structure is connected to a single-point mooring system for positioning, and the energy storage unit (11) is connected to a wind turbine (13) via a charging cable (12).

2. The modular movable battery exchange platform for offshore UAV according to claim 1 is characterized in that: The ball joint connector (3) is used to connect adjacent floating modules (1) and diversion modules (2); the ball joint connector (3) comprises a convex ball joint (22), a concave ball joint (23) and a hydraulic telescopic rod (24); the opening diameter of the concave ball joint (23) is larger than the diameter of the convex ball joint (22), and the inner wall is covered with a flexible cushion layer for buffering collision during insertion; the hydraulic telescopic rod (24) is evenly arranged on the inner wall of the concave ball joint (23), and the convex ball joint (22) is locked or released by hydraulically driving the hydraulic telescopic rod (24) to extend and retract; the hydraulic telescopic rod (24) increases the compression of the flexible cushion layer by adjusting the length and pressure, thereby adjusting the rotation damping or completely locking it.

3. The modular movable battery exchange platform for offshore UAV according to claim 1 is characterized in that: The mechanical arm (4) comprises a multi-degree-of-freedom joint (25) and a clamp (26); an electromagnetic adsorption device is arranged at the end of the clamp (26) to attract and connect the connecting rod (5) through electromagnetic force.

4. The modular movable battery exchange platform for offshore UAV according to claim 1, characterized in that: The floating module (1) further comprises an embedded FRP rib (19), an optical fiber sensor (20) and an anti-collision device (21) arranged at the bottom of the module; the floating module (1) is made of seawater and sea sand concrete, and the FRP rib (19) is embedded to enhance strength and corrosion resistance; the optical fiber sensor (20) is integrated into the FRP rib (19) to achieve structural health monitoring of the floating module (1); the anti-collision device (21) is made of high-elasticity rubber and is used to buffer collisions between modules or with other objects.

5. The modular movable battery exchange platform for offshore UAV according to claim 1, characterized in that: The single-point mooring system comprises a mooring buoy (27), a rotating joint (28), an anchor chain (29) and an anchor foundation (30); the single-point mooring system grasps the connecting rod (5) of the rotating joint (28) on the upper part of the mooring buoy (27) through the mechanical arm (4) of the floating module (1) at the other end of the chain structure to perform mooring positioning; the rotating joint (28) allows the modular movable power exchange platform for offshore drones to rotate freely around the mooring buoy (27) to adapt to different wave directions.

6. The modular movable battery exchange platform for offshore UAV according to claim 1, characterized in that: The tugboat (6) is connected to the diversion module (2) via a tow cable (7); the triangular eye plate (8) is used to disassemble the tow cable (7) to enhance the stability of the platform during towing.

7. An operating method of a modular movable battery-swapping platform for a marine UAV according to any one of claims 1 to 6, characterized in that: The following steps are involved: The modular movable power exchange platform for offshore UAVs is assembled in a dock. First, a floating module (1) is fixed, and then the position of another floating module (1) is adjusted so that it can be connected through an articulated connector (3), a mechanical arm (4), and a connecting rod (5). Then, the above operation is repeated, and finally the diversion module (2) is connected; the tugboat (6) is connected to the diversion module (2) through a tow cable (7), and the modular movable power exchange platform for offshore UAVs is towed to the wind farm area. The auxiliary ship (10) is connected to the side of the floating module (1) at the other end of the chain structure, and the position of the platform is adjusted so that the mechanical arm (4) of the floating module (1) at the other end of the chain structure grabs the connecting rod (5) on the mooring buoy (27), thereby realizing the single-point mooring fixation of the platform; through the rotating connection The modular mobile power exchange platform for offshore drones rotates freely according to the sea conditions and maintains stability; the modular mobile power exchange platform for offshore drones charges the energy storage unit (11) through the electricity generated by the wind turbine (13). After the energy storage is completed, the modular mobile power exchange platform for offshore drones is towed to the drone platform (16) by a tugboat (6) and docked, and is fixed to the mooring pile (18) by a mooring cable (17); the modular mobile power exchange platform for offshore drones transmits the power of the energy storage unit (11) to the drone battery (15) of the drone platform (16) through the charging cable (12), and replaces the battery for the drone (14) on the marine platform, ensuring that the drone can continue to perform maritime missions.

8. The method for operating a modular movable battery-swapping platform for a marine UAV according to claim 7, characterized in that: The modular movable battery exchange platform for offshore UAVs is towed to the UAV operation sea area and positioned through a single-point mooring system for the UAV to park and perform battery exchange operations.

Images