A modular, mobile battery swapping platform for maritime unmanned aerial vehicles and its operation method

Abstract

This invention belongs to the fields of drone charging technology and marine engineering technology, and discloses a modular, mobile battery swapping platform for marine drones and its operation method, aiming to solve the problem of insufficient power during marine drone operations. It consists of multiple floating modules and a bow guide module, flexibly chained together via ball joint connectors, robotic arms, and connecting rods. The platform relies on clean energy provided by offshore wind turbines, charging the drone batteries through an energy storage unit. The platform employs a single-point mooring system, achieving stability through mooring buoys, robotic arms, connecting rods, and rotary joints, allowing free rotation according to wave direction and ensuring stability even in harsh sea conditions. The platform also possesses good mobility; electric tugboats and auxiliary vessels can tow it to different operational areas, adapting to various mission requirements. This invention, through modular design and clean energy power supply, effectively improves the sustainability and environmental friendliness of marine drone operations.

Description

Technical Field

[0001] This invention relates to the fields of drone charging technology and marine engineering technology, and in particular to a modular, mobile battery swapping platform for marine drones and its operation method. Background Technology

[0002] Currently, drones are widely used in various fields, especially in marine and coastal areas, including environmental monitoring, maritime patrol, logistics transportation, and rescue missions. However, limited by battery technology, the endurance of drones remains a key bottleneck. Most drones must return to shore-based charging stations or have their batteries replaced after completing a flight mission for a period of time. This not only reduces operational efficiency but also wastes valuable flight time due to frequent returns, especially in offshore operations. Furthermore, shore-based charging stations typically occupy valuable land resources, resulting in high construction and maintenance costs. This is particularly true in coastal cities and port areas where land resources are scarce, limiting the large-scale construction of charging infrastructure.

[0003] Meanwhile, the rapid development of the offshore wind power industry has provided new opportunities for powering drones. As a renewable energy source, wind power has a stable and continuous power generation capacity, providing clean energy for drones, reducing dependence on fossil fuels, and effectively lowering carbon emissions. However, the potential distance between offshore wind farms and the operational areas where drones perform their missions 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, thereby improving drone endurance, reducing carbon emissions during operations, and achieving a green and efficient drone operation mode. Summary of the Invention

[0005] This invention aims to provide a modular, mobile battery swapping platform and its operation method for marine unmanned aerial vehicles (UAVs), addressing the issues of endurance and charging facility mobility for these UAVs. Furthermore, by integrating with marine infrastructure such as offshore wind farms for energy management and supply, it resolves problems in existing UAV power supply solutions, including insufficient endurance, high charging facility construction costs, and poor flexibility. Through integration with offshore wind farms, this platform can provide flexible charging and battery swapping services for UAVs, improving operational efficiency and endurance, effectively utilizing renewable energy, and reducing carbon emissions from UAV operations.

[0006] The main technical solution of the present invention is as follows: A modular and mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) includes: a floating module 1, a flow guiding module 2, a ball joint connector 3, a robotic arm 4, a connecting rod 5, a tugboat 6, a towing cable 7, a triangular eye plate 8, a cable guide 9, an energy storage unit 11, a charging cable 12, a wind turbine 13, a UAV 14, a UAV battery 15, a UAV platform 16, a mooring cable 17, a mooring bollard 18, and a single-point mooring system;

[0007] The floating module 1 is used to carry the energy storage unit 11 and the drone 14; the floating modules 1 are combined with ball joint connectors 3, robotic arms 4 and connecting rods 5, and are arranged in a straight line to form a chain structure; the chain structure does not increase the traction force requirement of the tugboat 6 as the number of floating modules 1 increases.

[0008] The flow guiding module 2 is connected to one end of the chain structure, and the flow guiding module 2 is equipped with a cable guide 9; the tugboat 6 is connected to the cable guide 9 through a tow cable 7 and a triangular eye plate 8.

[0009] A mooring bollard 18 is installed 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 the mooring bollard 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.

[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 the wind turbine 13 via a charging cable 12.

[0011] Furthermore, the ball joint connector 3 is used to connect adjacent floating modules 1 and flow guiding 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 pad to buffer the collision during insertion; the hydraulic telescopic rod 24 is evenly distributed 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 or retract; the hydraulic telescopic rod 24 increases the compression of the flexible pad by adjusting its length and pressure, thereby adjusting the rotational damping or completely locking it.

[0012] Furthermore, the robotic arm 4 includes a multi-degree-of-freedom joint 25 and a gripper 26; the end of the gripper 26 is equipped with an electromagnetic adsorption device, which attracts and connects to the connecting rod 5 through electromagnetic force.

[0013] Furthermore, the floating module 1 also includes an embedded FRP rib 19, a fiber optic sensor 20, and an anti-collision device 21 arranged at the bottom of the module; the material of the floating module 1 is seawater sand concrete, and the embedded FRP rib 19 enhances its strength and corrosion resistance; the fiber optic sensor 20 is integrated into the FRP rib 19 to realize the structural health monitoring of the floating module 1; the material of the anti-collision device 21 is high-elasticity 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 rotary joint 28, an anchor chain 29, and an anchoring foundation 30. The single-point mooring system uses the robotic arm 4 of the floating module 1 at the other end of the chain structure to grasp the connecting rod 5 of the rotary joint 28 on the upper part of the mooring buoy 27 for mooring and positioning. The rotary joint 28 allows the modular, mobile battery swapping platform used for marine UAVs to rotate freely around the mooring buoy 27 to adapt to different wave directions.

[0015] Furthermore, the tugboat 6 is connected to the flow guiding 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.

[0016] An operating method for a modular mobile battery swapping platform for a marine unmanned aerial vehicle (UAV) includes the following steps: The modular mobile battery swapping platform for the marine UAV is assembled in a dock. First, one floating module 1 is fixed, then the position of another floating module 1 is adjusted so that it is connected via a hinge connector 3, a robotic arm 4, and a connecting rod 5. The above operation is repeated, and finally, a flow guide module 2 is connected. A tugboat 6 connects to the flow guide module 2 via a tow cable 7 and tows the modular mobile battery swapping platform for the marine UAV to a wind farm area. An auxiliary vessel 10 connects to the side of the other end of the chain structure's floating module 1, adjusts the platform position, and causes the robotic arm 4 of the other end of the chain structure's floating module 1 to grab the connecting rod 5 on the mooring buoy 27, achieving a leveling operation. The platform is moored at a single point; the modular mobile battery swapping platform for the marine UAV rotates freely according to the sea conditions through the rotary joint 28, maintaining stability; the modular mobile battery swapping platform for the marine UAV charges the energy storage unit 11 with the electricity generated by the wind turbine 13. After energy storage is completed, the modular mobile battery swapping platform for the marine UAV is towed to the UAV platform 16 by the tugboat 6 and fixed to the mooring pile 18 by the mooring cable 17; the modular mobile battery swapping platform for the marine UAV transmits the power of the energy storage unit 11 to the UAV battery 15 of the UAV platform 16 through the charging cable 12 to replace the battery of the UAV 14 on the marine platform, ensuring that the UAV can continuously perform marine missions.

[0017] Furthermore, the modular, mobile battery swapping platform for marine drones is towed to the drone's operating area and positioned using a single-point mooring system for the drone to park and perform battery swapping operations.

[0018] The beneficial effects of this invention are:

[0019] (1) Provide a platform for endurance of maritime drones: The platform is compatible with various types of drones, including those for patrol, surveillance, and logistics, and adapts to a variety of application scenarios. Through a modular and mobile battery swapping platform, drones can obtain flexible charging and battery replacement support while operating at sea, avoiding frequent returns 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 mobile platform of this invention can adjust the scale according to mission requirements and can be quickly deployed to different sea areas via electric tugboats. Through the triangular eye plate and double cable traction design, the platform has high stability during towing, ensuring the platform is safe and reliable during movement and can flexibly respond to changes in the marine operating environment.

[0021] (3) Highly efficient use of clean energy: The platform relies on offshore wind farms to obtain renewable energy and provides power support for charging and battery swapping of drones through energy storage units. This not only reduces dependence on traditional fossil fuels and lowers carbon emissions during drone operations, but also aligns with the current global advocacy for environmental protection and sustainable development goals.

[0022] (4) Stable mooring and mobility: The single-point mooring system allows the platform to maintain a stable position at sea, and the rotary 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 withdrawn from the work area, improving the platform's flexibility and work efficiency.

[0023] This invention solves the endurance problem in maritime drone operations through flexible modular design, efficient use of clean energy, and convenient mooring methods, thereby improving operational efficiency and providing technical support for green maritime drone operations. Attached Figure Description

[0024] Figure 1 This is a top-view schematic diagram of the towing process of a modular, mobile battery swapping platform for marine unmanned aerial vehicles according to the present invention.

[0025] Figure 2 This is a front view schematic diagram of the towing process of a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) according to the present invention. The upper dashed line represents the sea level.

[0026] Figure 3 This is a top-view schematic diagram of an offshore wind farm energy storage system based on a modular, mobile battery swapping platform for offshore unmanned aerial vehicles (UAVs) according to the present invention.

[0027] Figure 4 This is a side view schematic diagram of an offshore wind farm energy storage system based on a modular, mobile battery swapping platform for offshore unmanned aerial vehicles (UAVs) according to the present invention. The upper dashed line represents the sea level, and the lower thick solid line represents the seabed.

[0028] Figure 5 This is a top-view schematic diagram of a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) according to the present invention.

[0029] Figure 6 This is a top-view schematic diagram of a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) according to the present invention.

[0030] Figure 7 This is a top-view schematic diagram of the module replacement of a modular mobile battery swapping platform for marine unmanned aerial vehicles according to the present invention.

[0031] Figure 8 This is a schematic diagram illustrating the modular expansion of a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) according to the present invention.

[0032] Figure 9 This is a top-view cross-sectional schematic diagram of a floating module of a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) according to the present invention.

[0033] Figure 10 This is a schematic diagram of a hinged connector for a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) according to the present invention.

[0034] Figure 11 This is a schematic diagram of a robotic arm for a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) according to the present invention.

[0035] In the diagram: 1-Floating module; 2-Flow guiding module; 3-Spherical joint connector; 4-Robotic arm; 5-Connecting rod; 6-Tugboat; 7-Tug cable; 8-Triangular eye plate; 9-Cable guide; 10-Auxiliary vessel; 11-Energy storage unit; 12-Charging cable; 13-Wind turbine; 14-UAV; 15-UAV battery; 16-UAV platform; 17-Mooring cable; 18-Mooring bollard; 19-FRP reinforcement; 20-Fiber optic sensor; 21-Collision avoidance device; 22-Convex ball joint; 23-Concave ball joint; 24-Hydraulic telescopic rod; 25-Joint; 26-Clamp; 27-Mooring buoy; 28-Rotary joint; 29-Anchor chain; 30-Anchoring foundation. Detailed Implementation

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

[0037] A modular, mobile battery swapping platform for maritime unmanned aerial vehicles (UAVs) includes: a floating module 1, a flow guiding module 2, a ball joint connector 3, a robotic arm 4, a connecting rod 5, a tugboat 6, a towing cable 7, a triangular eye plate 8, a cable guide 9, an auxiliary vessel 10, an energy storage unit 11, a charging cable 12, a wind turbine 13, a UAV 14, a UAV battery 15, a UAV platform 16, a mooring cable 17, a mooring bollard 18, and a single-point mooring system.

[0038] The modular energy storage float 1 includes: FRP ribs 19, fiber optic sensors 20, and anti-collision devices 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 robotic arm 4 includes: joint 25 and clamp 26.

[0041] The single-point mooring system includes: mooring buoy 27, swivel joint 28, anchor chain 29, and anchoring foundation 30.

[0042] The floating module 1, used to support the energy storage unit 11 and the UAV 14, is made of seawater sand concrete and embedded with FRP reinforcement 19. The fiber optic sensor 20 is integrated into the FRP reinforcement 19, giving the structure high strength and corrosion resistance, and enabling intelligent monitoring of the structure's health. Each floating module 1 is flexibly connected via ball joint connectors 3, robotic arms 4, and connecting rods 5. All modules are connected end-to-end to form a linear array, assembling a chain-like platform. This chain-like arrangement means that increasing the number of modules does not significantly affect the traction requirements of the tugboat; the tugboat only needs to maintain the linear movement of the towing chain without providing additional traction for the modules. The outermost part of the platform connects to a flow-guiding module 2, which has a triangular structure to effectively reduce hydrodynamic resistance and improve the platform's towing efficiency. The number of floating modules 1 can be flexibly selected according to the number of UAVs 14 and their charging requirements. The anti-collision device 21, made of highly elastic rubber, is installed at the bottom of each floating module 1 to prevent potential module collisions.

[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 UAV 14 to supply power to the UAV 14 or UAV platform 16. The tugboat 6 is connected to the flow guiding module 2 via a tow cable 7. The triangular eye plate is used to split the tow cable 7 into two strands, enhancing the stability of the platform during towing and effectively preventing the platform from swaying or shifting under the influence of waves. The cable guide 9 is installed on the upper part of the flow guiding module 2 and each floating module 1 for guiding and fixing the tow cable 7 and the mooring cable 17.

[0044] The robotic arm 4 and connecting rod 5 are arranged on both sides of each floating module 1 and at the tail of the flow guiding module for initial connection between adjacent modules and single-point mooring and positioning of the platform. The robotic arm 4 includes a joint 25 and a gripper 26, which can achieve flexible movement. The gripper 26 is equipped with an electromagnetic adsorption device. When the gripper 26 is close to the connecting rod 5, it adsorbs and grasps the connecting rod 5 by adjusting the electromagnetic force. The connecting rod 5 is made of magnetic metal and is used for adsorption by the gripper 26.

[0045] The single-point mooring system is used for mooring and positioning of the platform. The robotic arm 4 at the platform's stern module grips the connecting rod 5 of the rotating joint 28 on the upper part of the mooring buoy 27 to achieve mooring and positioning, allowing it to maintain a stable position while charging in the offshore wind farm area and adjust according to environmental conditions. The single-point mooring system features convenient mooring and unmooring characteristics, suitable for the frequent movement and deployment of this modular mobile platform. By simplifying mooring operations, it enables rapid platform fixing and release, allowing the platform to move flexibly between different operating areas and reducing downtime. The mooring buoy 27 is connected to the anchoring foundation 30 via an anchor chain 29 for platform mooring and provides buoyancy support, ensuring the platform's stability in the marine environment. The rotating joint 28, installed on the upper part of the mooring buoy 27, allows the platform to rotate freely around the mooring buoy 27, adapting to different wave directions, thereby reducing the impact of waves on platform stability. The anchor chain 29 connects the mooring buoy 27 to the seabed anchoring foundation 30, providing stable mooring support and ensuring the platform is not washed away from its predetermined position by waves. The anchoring foundation 30 is used to fix the infrastructure on the seabed, ensuring that the platform can remain fixed in harsh sea conditions and providing long-lasting mooring support. It can be in the form of a gravity anchor, suction cylinder, etc.

[0046] The auxiliary vessel 10 provides support during platform deployment and towing, primarily for auxiliary tasks such as platform stopping, precise positioning, and module position adjustment; it can also act as a tugboat to tow the platform when necessary. When the platform stops, the auxiliary vessel 10 connects to the stern module via tow cable 7, providing directional traction to gradually decelerate the platform until it stops. When the platform is moored and positioned, the auxiliary vessel 10 connects to the stern module laterally via tow cable 7, working in conjunction with the tugboat 6 to tow the platform, adjust its position, and allow the stern module's robotic arm 4 to grasp the connecting rod 5 on the upper part of the mooring buoy 27.

[0047] The energy storage unit 11 is primarily used to store the electrical energy of the wind turbine 13, and can also store other marine renewable energy sources (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 a stable energy supply for the platform under various environments.

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

[0049] The drones 14 are diverse and can include drones for tasks such as patrol, monitoring, and logistics delivery. The drone platform 16 can accommodate various types of drones and provides support for replacing drone batteries 15, improving the drone's endurance and mission efficiency; its structure can be fixed or semi-submersible. When the modular mobile battery swapping platform is towed to the drone platform 16, the platform is positioned via mooring cable 17 and mooring bollard 18, and then the charging cable 12 supplies power to the drone batteries 15 on the drone platform 16, thereby realizing the battery swapping of the drones 14.

[0050] In addition, the modular and mobile battery swapping platform can also serve as a take-off and landing platform for the UAV 14 and provide battery swapping services for it.

[0051] The ball joint connector 3 includes a convex ball joint 22, a concave ball joint 23, and a hydraulic telescopic rod 24, used to connect adjacent modules. The convex ball joint 22 and the concave ball joint 23 are respectively installed on both sides of each floating module 1. The opening diameter of the concave ball joint 23 is larger than that of the convex ball joint 22, which facilitates the insertion of the convex ball joint 22, and the interior is covered with a flexible pad to reduce collision. The hydraulic telescopic rod 24 is evenly distributed on the inner wall of the concave ball joint 23 and can be flexibly extended and retracted by a hydraulic drive system.

[0052] When the modular mobile battery swapping platform for marine UAVs is used for module connection in a single-point mooring state, the target module is moored at a single point on the mooring buoy 27. The module to be connected is positioned by the tugboat 6 and the auxiliary vessel 10, bringing the tail module of the module to be connected closer to the target module. The robotic arm 4 then grasps the connecting rod 5 of the target module, achieving a preliminary connection. The robotic arm then adjusts the relative position of the modules, allowing the convex ball joint 22 to insert into the concave ball joint 23. The hydraulic telescopic rod 24 is then activated, extending synchronously, with the flexible padding layer conforming to the convex ball surface, completing the mechanical locking. After the ball joint connector 3 is connected, the length of the hydraulic telescopic rod 24 is adjusted to compress the padding layer, increasing friction and allowing for flexible adjustment of rotational damping or complete locking, preventing module collisions during towing and operation. When the module is disassembled, the hydraulic telescopic rod 24 is retracted, unlocking the ball joint connector. The robotic arm 4 and connecting rod 5 are then released, achieving complete separation of the module.

[0053] Figure 1 and Figure 2The diagram shows top and front views of the modular mobile battery swapping platform of the present invention during towing. Adjacent floating modules 1 are connected sequentially to form a chain platform via ball joint connectors 3, and an energy storage unit 11 is deployed on the upper part of each floating module 1; the tugboat 6 is an electric tugboat, which is connected to the triangular eye plate 8 via towing cable 7, and is divided into a double cable connection to the guide cable 9 of the flow guiding module 2 to ensure stability during towing and avoid interference from sea waves; the auxiliary vessel 10 is an electric auxiliary vessel, located to the side and rear of the platform, to assist in the platform's towing, stopping, positioning and other operations, and can also be used as a tugboat.

[0054] Figure 3 and Figure 4 This diagram illustrates the modular, mobile battery swapping platform of the present invention in a wind farm energy storage application, showing both top and front views. The platform is towed from the port to the operational area near the offshore wind farm by an electric tugboat and positioned using a pre-deployed single-point mooring system. Through the coordinated operation of the electric tugboat and an electric auxiliary vessel, the platform's position is adjusted so that the robotic arm 4 of the platform's stern module can attach to and grasp the connecting rod 5 on the upper part of the mooring buoy 27, achieving mooring and positioning. Anchor chains 29 connect the mooring buoy 27 to the anchoring foundation 30, ensuring the platform's stability at sea. A rotary joint 28 allows the platform to rotate freely according to wave direction, reducing the impact of waves on platform stability. The platform obtains power from a nearby wind turbine 13 via a charging cable 12, and the electrical energy is stored in an energy storage unit 11 for charging the drone and meeting the platform's power needs. The energy storage unit can simultaneously store other marine renewable energy sources, such as wave energy or tidal energy, ensuring the platform has a continuous power supply capability.

[0055] Figure 5 This diagram illustrates a top-view illustration of the modular, mobile battery-swapping platform of the present invention powering a drone platform. After the platform's energy storage at the wind farm ends, it is towed to the sea area of ​​the drone platform 16. The platform is moored via mooring cables 17 and mooring bollards 18, and a charging cable 12 is provided to power the drone batteries 15 on the upper part of the drone platform 16. The drone platform 16 can be fixed or semi-submersible, serving as a parking platform for the maritime drone 14. The drone 14 is primarily used for tasks such as marine monitoring, border patrol, or logistics transportation. When the drone's battery level drops, it will automatically return to the drone platform 16. The drone platform 16 has multiple sets of drone batteries 15, enabling simultaneous battery swapping for multiple drones.

[0056] Figure 6 The diagram shows a top view of the modular mobile battery swapping platform of the present invention supplying power to a drone. The modular mobile battery swapping platform itself can also serve as a parking platform for the drone and provide a battery swapping platform for the drone 14, offering a flexible battery swapping platform for the maritime drone 14; a single-point mooring system is deployed in the drone's operating area for positioning the modular mobile battery swapping platform.

[0057] Figure 7 The diagram shows a top view of the modular mobile battery swapping platform of the present invention. When the energy storage unit 11 on the upper part of the platform is about to run out of power, the fully charged platform is towed to the UAV operating area and fixed to the other side of the single-point mooring system for the UAV to park and perform battery swapping operations; then the original platform is towed to the wind farm area by an electric tugboat for energy replenishment.

[0058] Figure 8 This diagram shows a top view illustrating the modular expansion of the modular portable battery swapping platform of this invention. The platform's modular design allows for flexible adjustment of the number of modules based on the scale of the operation, adapting to different task scenarios.

[0059] Figure 9 A top-view cross-sectional view of the floating module of the present invention is shown. The floating module 1 is made of seawater marine concrete material, with FRP reinforcement 19 embedded inside, and fiber optic sensors 20 integrated into the FRP reinforcement 19, which effectively enhances the strength, corrosion resistance and self-sensing ability of the structure, and realizes intelligent health monitoring of the platform.

[0060] Figure 10 A schematic diagram of the ball joint connector of the present invention is shown. 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, the inner wall is covered with a flexible pad, and multiple 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 extends to lock the ball joint connector 3.

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

[0062] The design of this invention should take into account the following factors:

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

[0064] (2) Automation of UAV charging and battery replacement: The platform design needs to take into account the characteristics of UAV batteries and configure 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 UAV model and battery status, complete the automatic installation and removal of batteries, reduce manual intervention, and improve operational efficiency.

[0065] (3) Efficient utilization of clean energy: The platform needs to be efficiently integrated with offshore wind farms, collecting electrical energy from wind turbines via charging cables and storing it in energy storage units. 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 a sustainable energy supply.

[0066] Designing and implementing a modular, mobile battery swapping platform for marine unmanned aerial vehicles (UAVs) involves a detailed and complex process with several key steps. The following is a general operational procedure for this system:

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

[0068] Modular platforms and equipment are manufactured on land and assembled in a dry dock. First, one floating module is fixed in place, then the position of another floating module is adjusted so that the two modules are connected end-to-end via a hinged connector, robotic arm, and connecting rod. This process is repeated to assemble the entire platform. Finally, the bow-mounted guide module is connected. After completion, an electric tugboat connects to the guide module with a tow cable to tow the platform to the designated sea area. Upon arrival at the wind farm, the platform's position is adjusted by the coordinated action of the electric tugboat and auxiliary vessels. The robotic arm at the stern of the platform then grasps the connecting rod on the mooring buoy, completing single-point mooring and positioning. This ensures stable operation of the platform within the wind farm area, utilizing wind power to charge the energy storage units.

[0069] After energy storage is completed, the platform is towed by an electric tugboat to the drone platform where the drone will operate. The platform is then securely connected to the drone platform via mooring cables and bollards, and power from the energy storage unit is transferred to the drone's battery via a charging cable for battery replacement. Throughout the process, the intelligent control system monitors the platform's power status and the drone's battery swapping operation in real time, ensuring efficient and stable system operation.

[0070] Meanwhile, the modular and mobile battery swapping platform can also serve as a parking platform for drones and provide battery swapping services for drones, reducing the construction cost of drone platforms and providing a flexible drone battery swapping platform.

[0071] As platform usage demands increase, the floating modules can be flexibly expanded to add more battery swapping devices or energy storage units to accommodate larger-scale drone operations. The modular design gives the platform extremely high flexibility and also provides a foundation for future functional upgrades (such as integrating wave energy and solar energy).

[0072] In summary, through proper planning, manufacturing, transportation, installation, and commissioning, the modular and mobile battery swapping platform for marine drones can achieve efficient deployment and provide flexible and reliable charging and battery replacement services for drones.

Claims

1. A modular movable battery swap platform for offshore drones, characterized in that, The modular movable battery replacement platform for offshore unmanned aerial vehicles comprises a floating module (1), a flow guide module (2), a spherical hinge connector (3), a mechanical arm (4), a connecting rod (5), a tugboat (6), a tow rope (7), a triangular eye plate (8), a fairlead (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 line (17), a mooring pile (18), and a single-point mooring system. The floating module (1) is used to carry the energy storage unit (11) and the unmanned aerial vehicle (14); the floating modules (1) are combined through the spherical hinge connector (3), the mechanical arm (4), and the connecting rod (5), arranged in a straight line, and form a chain structure. The flow guide module (2) is connected to one end of the chain structure, and the fairlead (9) is arranged on the flow guide module (2); the tugboat (6) is connected to the fairlead (9) through the tow rope (7) and the triangular eye plate (8). The mooring pile (18) is arranged on the unmanned aerial vehicle platform (16); the unmanned aerial vehicle platform (16) is connected to one side of the floating module (1) through the mooring line (17) and the mooring pile (18); the unmanned aerial vehicle (14) and the unmanned aerial vehicle battery (15) are arranged on the unmanned aerial vehicle platform (16); the unmanned aerial vehicle battery (15) is connected to the energy storage unit (11) through the charging cable (12). The other end of the chain structure is connected to the single-point mooring system for positioning, and the energy storage unit (11) is connected to the wind turbine (13) through the charging cable (12). The spherical hinge connector (3) is used to connect adjacent floating modules (1) and flow guide modules (2); the spherical hinge 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 greater than the diameter of the convex ball joint (22), and the inner wall is covered with a flexible pad layer for buffering the collision during insertion; the hydraulic telescopic rods (24) are uniformly arranged on the inner wall of the concave ball joint (23), and the hydraulic telescopic rods (24) are driven to stretch or retract to lock or release the convex ball joint (22); the hydraulic telescopic rods (24) adjust the compression amount of the flexible pad layer by adjusting the length and pressure to adjust the rotary damping or completely lock it; The mechanical arm (4) comprises a multi-degree-of-freedom joint (25) and a clamp (26); the clamp (26) is provided with an electromagnetic adsorption device at the end, and the connecting rod (5) is connected through electromagnetic force; The floating module (1) further comprises embedded FRP bars (19), optical fiber sensors (20), and anti-collision devices (21) arranged at the bottom of the module; the material of the floating module (1) is seawater-sand concrete, and the FRP bars (19) are embedded to enhance the strength and corrosion resistance; the optical fiber sensors (20) are integrated in the FRP bars (19) to realize the structural health monitoring of the floating module (1); the material of the anti-collision device (21) is high-elasticity rubber, which is used to buffer the collision between modules or with other objects. The single-point mooring system comprises a mooring buoy (27), a rotary joint (28), an anchor chain (29), and an anchoring foundation (30); the single-point mooring system is positioned by the mechanical arm (4) of the chain structure floating module (1) grabbing the connecting rod (5) of the rotary joint (28) on the upper part of the mooring buoy (27); the rotary joint (28) allows the modular movable battery replacement platform for the offshore unmanned aerial vehicle to freely rotate around the mooring buoy (27) and adapt to different wave directions.

2. The modular movable battery swapping platform for offshore drones according to claim 1, characterized in that, The tugboat (6) is connected with the flow guide module (2) through a tow cable (7).

3. The operating method of the modular movable battery swap platform for offshore drones according to any one of claims 1-2, characterized in that, The method comprises the following steps: The modular movable battery replacement platform for the offshore unmanned aerial vehicle is assembled in a dock, one floating module (1) is first fixed, the position of another floating module (1) is then adjusted, the other floating module (1) is connected through the spherical hinge connector (3), the mechanical arm (4), and the connecting rod (5), the above operation is repeated, and finally the flow guide module (2) is connected; the tugboat (6) is connected with the flow guide module (2) through the tow cable (7), the modular movable battery replacement platform for the offshore unmanned aerial vehicle is towed to a wind power field area, the auxiliary ship (10) is connected with the side of the chain structure floating module (1), the position of the modular movable battery replacement platform for the offshore unmanned aerial vehicle is adjusted, the mechanical arm (4) of the chain structure floating module (1) grabs the connecting rod (5) on the mooring buoy (27), and the single-point mooring of the modular movable battery replacement platform for the offshore unmanned aerial vehicle is realized; the modular movable battery replacement platform for the offshore unmanned aerial vehicle freely rotates according to the sea conditions through the rotary joint (28) and remains stable; the modular movable battery replacement platform for the offshore unmanned aerial vehicle charges the energy storage unit (11) through the power generated by the wind turbine (13), after the energy storage is completed, the modular movable battery replacement platform for the offshore unmanned aerial vehicle is towed to the unmanned aerial vehicle platform (16) by the tugboat (6), and is fixed through the mooring cable (17) and the mooring pile (18); the modular movable battery replacement platform for the offshore unmanned aerial vehicle transmits the power of the energy storage unit (11) to the unmanned aerial vehicle battery (15) of the unmanned aerial vehicle platform (16) through the charging cable (12), replaces the battery of the unmanned aerial vehicle (14) on the unmanned aerial vehicle platform, and ensures that the unmanned aerial vehicle can continuously perform offshore tasks.

4. The method of claim 3, wherein, The modular movable battery replacement platform for the offshore unmanned aerial vehicle is towed to the unmanned aerial vehicle operation sea area and is positioned through the single-point mooring system, so as to stop the unmanned aerial vehicle and perform the battery replacement operation.

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