Unmanned aerial vehicle offshore parking platform, unmanned aerial vehicle tracking method thereof and ocean monitoring system

Abstract

The invention discloses an unmanned aerial vehicle offshore parking platform, an unmanned aerial vehicle tracking method thereof and an ocean monitoring system, and relates to the technical field of ocean monitoring. A parking structure is arranged on the buoy platform and provides a residence position and a charging function for the unmanned aerial vehicle, the satellite communication unit provides a communication transmission channel for the whole parking platform, the whole parking platform can be deployed in an ocean middle and open sea area, and the problem that middle and open sea monitoring is difficult to conduct through the unmanned aerial vehicle under the existing unmanned aerial vehicle technical condition is solved. And the problem that the monitoring capability of a traditional buoy and a remote sensing satellite is limited is solved by utilizing the high-precision and high-maneuverability monitoring capability of the unmanned aerial vehicle. The vertical position of the unmanned aerial vehicle can be limited through the unmanned aerial vehicle locking mechanism and the unmanned aerial vehicle unlocking mechanism; in the locking process of landing of the unmanned aerial vehicle, the unlocking motor does not need to work, even if the unlocking motor breaks down, it can still be guaranteed that the unmanned aerial vehicle can land on the platform, and the safety of the unmanned aerial vehicle is improved. The method for tracking take-off and landing of the unmanned aerial vehicle by the pan-tilt camera is easy to implement and high in practicability.

Description

Technical Field

[0001] The present invention relates to the technical field of marine monitoring, and in particular to an unmanned aerial vehicle (UAV) sea-based parking platform, a UAV tracking method thereof, and a marine monitoring system. Background Art

[0002] Marine monitoring plays an important role in aspects such as marine resource development and protection, marine disaster warning, marine environmental protection, marine rights and interests maintenance, and scientific research. Traditional monitoring means for the mid- and far-offshore mainly rely on remote sensing satellites and buoy systems. Although remote sensing satellites have a wide monitoring area, their monitoring accuracy is relatively low, with a resolution only at the meter or hundred-meter level, and there is also the problem of revisit cycle, unable to obtain monitoring data at any time, resulting in low real-time performance; although the monitoring of buoy systems has relatively high accuracy, the coverage area is small, and the monitoring range is only limited to a certain range near the buoy. If a larger monitoring range is required, only by increasing the number of buoys, and generally buoys are anchored at fixed positions and do not have mobility.

[0003] UAV marine monitoring has the characteristics of high mobility, wide monitoring range, and high monitoring accuracy. However, the current main application method of UAV marine monitoring is that the UAV takes off from the shore, and after completing the monitoring task, it returns to the shore. Due to the flight time limitation of the UAV, UAV monitoring can only be limited to the nearshore area within dozens to hundreds of kilometers from the shore. If the UAV is required to monitor the mid- and far-offshore, it is necessary to use a ship to carry the UAV to the area to be monitored for operation, and after the monitoring is completed, use the ship to bring the UAV back for charging. In the long run, this will greatly increase the costs of manpower and material resources. In addition, due to the influence of the earth's curvature, too long a distance will also affect the communication of the UAV data link, and traditional ships cannot provide good communication guarantee for UAV mid- and far-offshore monitoring, further restricting the application of UAVs in mid- and far-offshore monitoring.

[0004] In summary, the present invention provides a UAV sea-based parking platform, a marine monitoring system, and a UAV tracking method. The platform can float in the mid- and far-offshore for a long time, provide a platform for taking off, landing, and staying of UAVs, and provide good communication guarantee for UAV mid- and far-offshore monitoring, meeting the requirements of UAV mid- and far-offshore monitoring. Summary of the Invention

[0005] The object of the present invention is to provide a UAV sea-based parking platform, a UAV tracking method thereof, and a marine monitoring system. The buoy platform can float in the mid- and far-offshore for a long time, provide a platform for taking off, landing, and staying of UAVs, and provide good communication guarantee for UAV mid- and far-offshore monitoring, so as to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides the following solutions: On the one hand, the present invention provides an unmanned aerial vehicle (UAV) sea parking platform, which includes a buoy platform, a parking structure, an environmental monitoring unit, and a satellite communication unit; the buoy platform can float on the sea surface and provide a parking place for the UAV; the parking structure, the environmental monitoring unit, and the satellite communication unit are all arranged on the buoy platform, the parking structure can guide the UAV to land and charge the UAV after it lands, the environmental monitoring unit can monitor the surrounding environment of the parking platform and the take-off and landing process of the UAV, the satellite communication unit is communicatively connected to the parking structure, the environmental monitoring unit, and the rear monitoring center respectively to establish a communication transmission channel between the parking platform and the rear monitoring center, and the satellite communication unit is also used to communicate with the UAV to control the take-off, landing, and communication of the UAV.

[0007] In some embodiments, the UAV sea parking platform further includes a meteorological monitoring unit, which is arranged on the buoy platform and can monitor the meteorology around the parking platform to provide meteorological information for the take-off of the UAV.

[0008] In some embodiments, the buoy platform includes a main platform and sub-platforms, the parking structure is arranged on the main platform, at least three sub-platforms are provided and are evenly distributed on the outer periphery of the main platform, and any one of the sub-platforms is connected to the main platform through a platform connecting rod; the environmental monitoring unit, the meteorological monitoring unit, and the satellite communication unit are respectively installed on different sub-platforms.

[0009] In some embodiments, the UAV sea parking platform further includes a protection component, which includes a hatch cover, hatch cover connecting rods, and a hatch cover opening and closing motor; the hatch cover is connected to the main platform through two groups of hatch cover connecting rods, and the two groups of hatch cover connecting rods are symmetrically distributed on both sides of the hatch cover; any one group of hatch cover connecting rods includes a link one and a link two hinged to the link one, the end of the link two is hinged to the outer side wall of the hatch cover, and the end of the link one is hinged to the side wall of the main platform through a hinge shaft; the main platform is a cavity structure, and two groups of hatch cover opening and closing motors are arranged therein, and the output ends of the two groups of hatch cover opening and closing motors are respectively connected to the hinge shafts of the two groups of hatch cover connecting rods, and the hatch cover opening and closing motor is used to drive the link one to rotate to drive the hatch cover to open or close.

[0010] In some embodiments, a power supply unit is further configured on the main platform, and the parking structure, the environmental monitoring unit, the meteorological monitoring unit, and the satellite communication unit are all electrically connected to the power supply unit.

[0011] In some embodiments, the parking structure includes an auxiliary cylindrical structure and a main cylindrical structure arranged coaxially. The auxiliary cylindrical structure and the main cylindrical structure are connected by a conical cylindrical surface structure. The diameter of the auxiliary cylindrical structure is smaller than that of the main cylindrical structure, and the main cylindrical structure is connected to the buoy platform. An inductive charging unit capable of inductively charging the drone is arranged inside the main cylindrical structure, and the inductive charging unit is arranged near the lower axial end of the main cylindrical structure.

[0012] In some embodiments, the drone sea parking platform further includes a drone locking mechanism and a drone unlocking mechanism. The drone locking mechanism includes a locking block, a spring, a baffle, and a square hole opened at the upper axial end of the main cylindrical structure. The square hole penetrates the outer wall of the main cylindrical structure, and the baffle is fixed in the square hole. The locking block is slidably installed in the square hole, and a spring is connected between the inner end of the locking block and the baffle. A downward inclined wedge surface is provided at the top of the outer end of the locking block. When the drone lands, the main ring at the bottom of the landing gear can pass through the inclined wedge surface, squeeze the locking block, and make the locking block retract into the square hole. After the drone lands, the locking block can extend out of the square hole under the reset action of the spring to lock and limit the drone through the outer end of the locking block. The drone unlocking mechanism includes a transmission shaft, a motor gear, and an unlocking motor. The motor gear is arranged at the upper axial end inside the main cylindrical structure, and the unlocking motor is arranged on the parking structure, and the output end of the unlocking motor is coaxially connected to the motor gear. After the outer end of the transmission shaft passes through the baffle movably, it is slidably matched with the inner end of the locking block, and a limit block is provided at the outer end of the transmission shaft to prevent the outer end of the transmission shaft from slipping out of the locking block. The inner end of the transmission shaft is meshed with the motor gear through a driven gear. The unlocking motor can drive the motor gear to rotate to pull the locking block into the square hole through the transmission shaft to unlock the drone, or push the locking block out of the square hole to wait for the next drone landing.

[0013] In some embodiments, the environmental monitoring unit is a pan-tilt camera.

[0014] On the other hand, the present invention also provides a drone tracking method for the above-mentioned drone sea parking platform, including a drone takeoff process tracking method and a drone landing process tracking method. The drone takeoff process tracking method includes: Step 11, after the satellite communication unit receives the drone takeoff instruction, adjust the horizontal angle and vertical angle of the pan-tilt camera to ; Step 12, after the drone takes off, calculate the relative coordinates of the drone according to the period T and calculate the horizontal angle and vertical angle of the pan-tilt camera ; Step 13, adjust the horizontal angle and vertical angle of the pan-tilt camera to ; Step 14, calculate and determine whether the distance between the pan-tilt camera and the drone exceeds the threshold ; if , if , then return to Step 12 to continue calculating and tracking. If , then terminate the tracking of the drone takeoff process by the pan-tilt camera; The method for tracking the drone landing process includes: Step 21, calculate the relative coordinates of the drone according to the period T , calculate and determine whether the distance between the pan-tilt camera and the drone is less than the threshold ; Step 22, when , calculate the horizontal angle and vertical angle of the pan-tilt camera , and adjust the horizontal angle and vertical angle of the pan-tilt camera to ; Step 23, if the drone has not landed on the drone sea parking platform, calculate the relative coordinates of the drone according to the period T , calculate , return to Step 22 to continue calculating and tracking; Step 24, when the drone lands on the drone sea parking platform, terminate the tracking of the drone landing process by the pan-tilt camera.

[0015] On the other hand, the present invention also provides an ocean monitoring system, including a drone for ocean monitoring and the above-mentioned drone sea parking platform. The drone is communicatively connected to the satellite communication unit; a positioning structure adapted to the parking structure is provided on the drone landing gear of the drone. The positioning structure includes a main ring and an auxiliary ring coaxial with the main ring. The main ring is located at the bottom of the drone landing gear, and an induction power receiving unit matching the induction charging unit is provided inside the main ring. The main ring is used to be sleeved outside the main cylindrical structure to charge the drone through the induction charging unit; the auxiliary ring is used to be sleeved outside the auxiliary cylindrical structure.

[0016] The present invention has achieved the following technical effects compared with the prior art: The drone sea parking platform proposed by the present invention has a parking structure on the buoy platform, providing a parking position and charging function for the drone. The satellite communication unit provides a communication transmission channel for the entire parking platform, enabling real-time remote monitoring and control of the entire parking platform. The entire parking platform can be deployed in the mid-ocean and far-ocean areas of the ocean. When in use, it can be placed in the target sea area in the same way as a traditional ocean buoy and anchored at a designated position, solving the problem that it is difficult to use drones for mid-ocean and far-ocean monitoring in the existing drone technology, and using the high-precision and high-mobility monitoring capabilities of drones to make up for the limitations of traditional buoy and remote sensing satellite monitoring capabilities.

[0017] The entire parking platform of the present invention fully considers the stability of the buoy platform, the precise landing of the UAV, parking and locking, charging, takeoff condition judgment, automatic tracking and monitoring during the takeoff and landing process, and remote monitoring and control, and has good safety and completeness.

[0018] The UAV landing gear structure proposed by the present invention adds a main ring and an auxiliary ring in the middle of the traditional landing gear structure. By using the geometric constraint relationship between the main ring, the auxiliary ring and the parking structure, the horizontal position of the UAV when parked on the platform can be limited without complex electronic control and mechanical structures, increasing the stability and maintainability of the function.

[0019] The present invention can limit the vertical position of the UAV by setting a UAV locking mechanism and a UAV unlocking mechanism. When the UAV lands, there is no need for the unlocking motor to work. The main ring on the UAV landing gear presses the locking block to contract into the parking structure. When the UAV lands completely, the locking block will automatically pop out under the spring force to lock the position of the UAV in the vertical direction. When the UAV takes off, the unlocking motor is used to drive the motor gear and the transmission shaft to pull the locking block to contract into the parking structure to unlock. The locking process of the UAV landing does not require the unlocking motor to work. Since it is difficult for the UAV to find an alternate landing area at sea, even when the unlocking motor fails, the UAV can still land on the platform, increasing the safety of the UAV.

[0020] The method for tracking and monitoring the takeoff and landing of the UAV by the pan-tilt camera proposed by the present invention is as follows: during the takeoff and landing process of the UAV, when the UAV is within the range of tracking and monitoring, the horizontal angle and vertical angle of the pan-tilt camera tracking the UAV are periodically calculated, and the horizontal angle and vertical angle of the pan-tilt camera are adjusted according to the calculation results, so that the pan-tilt camera can continuously track and monitor the UAV. This method does not require additional equipment and can monitor the key takeoff and landing processes of the UAV only by relying on software calculation and control, with simple implementation and strong practicability.

[0021] Based on the structure of the UAV sea parking platform, each functional unit and the pan-tilt camera tracking and monitoring method invented by the present invention, the working process of the UAV sea parking platform is proposed, including the takeoff process and the landing process. The working process realizes the overall working process of the UAV buoy platform system and has good completeness.

[0022] The ocean monitoring system proposed by the present invention includes a UAV for monitoring and the above-mentioned UAV sea parking platform, which can monitor the middle and far sea areas of the ocean, solves the problem that it is difficult to use UAVs for middle and far sea monitoring under the existing UAV technology, and makes up for the limited monitoring capabilities of traditional buoys and remote sensing satellites by using the high-precision and high-mobility monitoring capabilities of UAVs. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 It is a schematic structural diagram of the UAV sea parking platform disclosed in the embodiments of the present invention.

[0025] Figure 2 It is a side view of the parking structure disclosed in the embodiments of the present invention.

[0026] Figure 3 It is a bottom horizontal cross-sectional view of the parking structure disclosed in the embodiments of the present invention.

[0027] Figure 4 It is an installation schematic diagram of the unlocking motor disclosed in the embodiments of the present invention.

[0028] Figure 5 It is a schematic structural diagram of the UAV landing gear disclosed in the embodiments of the present invention.

[0029] Figure 6 It is a schematic diagram of the structure and installation of the LED vision guidance disclosed in the embodiments of the present invention.

[0030] Figure 7 It is a schematic diagram of the pan-tilt camera angle calculation (initial frontal position) disclosed in the embodiments of the present invention.

[0031] Figure 8 It is a schematic diagram of the pan-tilt camera angle calculation (any position) disclosed in the embodiments of the present invention.

[0032] Figure 9 It is a flowchart of the pan-tilt camera tracking during the takeoff process of the UAV disclosed in the embodiments of the present invention.

[0033] Figure 10 It is a flowchart of the pan-tilt camera tracking during the landing process of the UAV disclosed in the embodiments of the present invention.

[0034] Figure 11 It is a flowchart of the takeoff of the UAV sea parking platform disclosed in the embodiments of the present invention.

[0035] Figure 12 It is a flowchart of the landing of the UAV sea parking platform disclosed in the embodiments of the present invention.

[0036] In the figure, the reference numerals are: unmanned aerial vehicle (UAV) sea parking platform 100, UAV 200, anchor chain 1, main platform 2, sub-platform 3, platform connecting rod 4, parking structure 5, hatch cover 6, hatch cover connecting rod 7, connecting rod one 71, connecting rod two 72, hinge shaft 73, pan-tilt camera 8, meteorological monitoring unit 9, satellite communication unit 10, auxiliary cylindrical structure 11, main cylindrical structure 12, square hole 121, locking block 13, inclined wedge surface 131, spring 14, baffle 15, transmission shaft 16, motor gear 17, unlocking motor 18, main ring 19, auxiliary ring 20, LED vision guidance 21. Specific implementation manner

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] One of the purposes of the present invention is to provide an unmanned aerial vehicle (UAV) sea parking platform, which can float in the mid- and far-seas for a long time, provide a platform for taking off, landing, staying and storing UAVs, and provide good communication guarantee for UAV mid- and far-sea monitoring, so as to meet the UAV mid- and far-sea monitoring requirements and solve the problems existing in the above-mentioned prior art.

[0039] Another purpose of the present invention is to provide a marine monitoring system that can be used for mid- and far-sea monitoring, which includes a UAV for monitoring and the above-mentioned UAV sea parking platform.

[0040] Still another purpose of the present invention is to provide a UAV tracking method implemented based on the above-mentioned UAV sea parking platform.

[0041] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0042] Embodiment 1 This embodiment provides an unmanned aerial vehicle (UAV) sea parking platform 100, which includes a buoy platform, a parking structure 5, an environmental monitoring unit, and a satellite communication unit 10. The buoy platform is used to float on the sea surface and support the entire UAV sea parking platform 100, and it can provide a parking place for the UAV. The parking structure 5 is arranged on the buoy platform and is used to guide the UAV to land, lock the position of the UAV after landing, and charge it. Both the environmental monitoring unit and the satellite communication unit 10 are arranged on the buoy platform. Among them, the environmental monitoring unit is used to monitor the surrounding environment of the parking platform and the take-off and landing processes of the UAV, and the satellite communication unit 10 is used to provide a communication transmission link for the parking platform, establish a communication transmission channel between the parking platform and the rear monitoring center, so as to facilitate real-time remote monitoring and control of the entire UAV sea parking platform 100. The satellite communication unit 10 includes, but is not limited to, high-throughput satellite communication, low-earth orbit satellite communication, and traditional broadband satellite communication.

[0043] In some feasible embodiments, in order to further improve the functions of the UAV sea parking platform 100, a meteorological monitoring unit 9 is also arranged on the above-mentioned buoy platform. The meteorological monitoring unit 9 is used to monitor the meteorology around the buoy platform (i.e., the parking platform) and provide meteorological information for the take-off of the UAV.

[0044] In some feasible embodiments, in order to provide an obstacle-free take-off and landing place for the UAV, the buoy platform is preferentially arranged in blocks. Specifically, the buoy platform includes a main platform 2 located in the center and a plurality of sub-platforms 3 evenly distributed on the outer periphery of the main platform 2. Any one of the sub-platforms 3 is connected to the main platform 2 through a platform connecting rod 4. The main platform 2 is used to provide a parking place for the UAV, and the parking structure 5 is arranged at the center of the upper surface of the main platform 2. At least three sub-platforms 3 are provided, and the environmental monitoring unit, the meteorological monitoring unit 9, and the satellite communication unit 10 are respectively installed on different sub-platforms 3. Taking the case where only three sub-platforms 3 are provided as an example, considering the platform stability, it is preferred that the three sub-platforms 3 are respectively located at the 0-degree, 120-degree, and 240-degree directions of the main platform 2, and the environmental monitoring unit, the meteorological monitoring unit 9, and the satellite communication unit 10 are respectively installed on the three sub-platforms 3.

[0045] In some feasible embodiments, an anchor chain 1 is also configured on the main platform 2. The anchor chain 1 is generally arranged below the main platform 2 and is used to reinforce the entire parking platform to prevent the parking platform from drifting randomly in the ocean. The anchor chain 1 belongs to the conventional technical means in this field, and its specific structure and working principle will not be elaborated here.

[0046] In some feasible embodiments, both the main platform 2 and each sub-platform 3 are of an open structure, that is, the parking structure 5, the environmental monitoring unit, the meteorological monitoring unit 9, and the satellite communication unit 10 are all directly exposed on the platform surface. However, considering that the parking structure 5 has a UAV charging structure, in order to prevent the impact of sea waves on the parking structure 5 and the UAV parked on the main platform 2, and to avoid damage to the functions of the parking structure 5 and the UAV, a protective component is further configured on the main platform 2 in this embodiment. The protective component includes a hatch cover 6 adapted to the main platform 2, a hatch cover connecting rod 7, and a hatch cover opening and closing motor. The hatch cover 6 is connected to the main platform 2 through two groups of hatch cover connecting rods 7. The two groups of hatch cover connecting rods 7 are symmetrically distributed on both sides of the hatch cover 6. Each group of hatch cover connecting rods 7 adopts a double-link mechanism, which includes a link one 71 and a link two 72 hinged to the link one 71. The end of the link two 72 is hinged to the outer side wall of the hatch cover 6. An articulated shaft 73 is fixed at the end of the link one 71, and the articulated shaft 73 is perpendicular to the link one 71. The main platform 2 is a cavity structure, and two groups of hatch cover opening and closing motors are arranged inside it. The articulated shafts 73 of the two groups of hatch cover connecting rods 7 both movably penetrate the side wall of the main platform 2 and are rotationally matched with the main platform 2, and the articulated shafts 73 of the two groups of hatch cover connecting rods 7 are respectively fixedly connected to the output ends of the two groups of hatch cover opening and closing motors. When the two groups of hatch cover opening and closing motors are in use, they rotate synchronously and in the same direction to drive the link one 71 to rotate in different directions, so as to open or close the hatch cover 6. When the hatch cover 6 is closed with the main platform 2, a closed space formed between the hatch cover 6 and the main platform 2 is large enough to accommodate the parking structure 5 and the UAV at the same time. The hatch cover 6 can protect the parking structure 5 and the UAV from being damaged by sea waves or climate. When the hatch cover 6 is opened, it can move to the side of the main platform 2 under the action of the hatch cover connecting rod 7, so that the main platform 2 is fully exposed to ensure the smooth takeoff or landing of the UAV. The above-mentioned hatch cover opening and closing motor is communicatively connected to the aforementioned satellite communication unit 10, which is convenient for the satellite communication unit 10 to automatically control the opening and closing of the hatch cover 6 according to the meteorological monitoring situation of the meteorological monitoring unit 9, so as to improve the adaptability of the entire parking platform at sea.

[0047] In some feasible embodiments, the main platform 2 is preferably a circular platform, which can provide a relatively large parking area for the UAV. Correspondingly, the hatch opening of the hatch cover 6 is set to be circular, and an annular sunken step is provided on the outer peripheral edge of the upper surface of the main platform 2. When the hatch cover 6 is buckled on the main platform 2, the hatch opening of the hatch cover 6 is hermetically matched with the sunken step to achieve the plug-in closure of the hatch cover 6 and the main platform 2. The hatch cover 6 includes, but is not limited to, a hemispherical or cylindrical shape. For example, Figure 1 the shown hatch cover 6 is a hemispherical hatch cover structure. In some other embodiments, the main platform 2 can also be set to other shapes, and the hatch opening of the hatch cover 6 is adapted to the shape of the main platform 2. For example, when the main platform 2 is rectangular, correspondingly, the hatch opening of the hatch cover 6 is set to be rectangular.

[0048] In some feasible embodiments, a dedicated power supply unit is further configured in the inner cavity of the main platform 2. The power supply unit includes, but is not limited to, a storage battery, a solar power supply system, a wave power generation system, etc. The parking structure 5, the environmental monitoring unit, the meteorological monitoring unit 9, and the satellite communication unit 10 can all be electrically connected to the power supply unit to supply power to each electrical component through the power supply unit. The power supply unit preferably adopts a solar power supply system or a wave power generation system to ensure the long-term endurance of the entire parking platform.

[0049] In some feasible embodiments, the parking structure 5 is preferably a columnar structure, and it is preferably coaxially arranged with the main platform 2. The lower end of the parking structure 5 is the main cylindrical structure 12, and the upper end is the auxiliary cylindrical structure 11. The auxiliary cylindrical structure 11 and the main cylindrical structure 12 are coaxial, and the diameter of the auxiliary cylindrical structure 11 is smaller than that of the main cylindrical structure 12. The auxiliary cylindrical structure 11 and the main cylindrical structure 12 are connected by a tapered cylindrical surface structure that is smaller at the top and larger at the bottom. The upper end diameter of the tapered cylindrical surface structure is the same as that of the auxiliary cylindrical structure 11, and the lower end diameter of the tapered cylindrical surface structure is the same as that of the main cylindrical structure 12. An inductive charging unit is arranged inside the main cylindrical structure 12, which can perform inductive charging for the drone, and the inductive charging unit is arranged near the axial lower end of the main cylindrical structure 12; a drone locking mechanism is arranged inside the axial upper end of the main cylindrical structure 12. The drone locking mechanism includes a square hole 121, a spring 14, and a baffle 15. A plurality of square holes 121 are arranged along the circumferential direction of the main cylindrical structure 12. Any one of the square holes 121 is arranged along the radial direction of the main cylindrical structure 12. A baffle 15 is fixed in any one of the square holes 121, and the baffle 15 divides the square hole 121 into an outer end area and an inner end area. A locking block 13 is slidably arranged in the outer end area of any one of the square holes 121. The locking block 13 is a square block adapted to the square hole 121. The locking block 13 can freely extend or retract in the corresponding square hole 121. A spring 14 is connected between any one of the locking blocks 13 and the corresponding baffle 15. The spring 14 remains in a stretched state in the natural state and pushes the outer end of the locking block 13 out of the square hole 121. At this time, it is the locking state of the locking block 13. A downward inclined wedge surface 131 is arranged at the top of the outer end of the locking block 13. When the drone is landing, the main ring 19 at the bottom of the drone is sleeved outside the parking structure 5. As the drone continues to land, its main ring 19 contacts the inclined wedge surface 131 of the locking block 13. Under the guiding action of the inclined wedge surface 131, the main ring 19 can press the locking block 13 radially inward along the square hole 121, causing the locking block 13 to retract into the square hole 121 and compress the spring 14 to ensure that the main ring 19 passes through the locking block 13. At this time, it is the unlocking state of the locking block 13; after the main ring 19 completely passes through the locking block 13, the locking block 13 can extend out of the square hole 121 under the reset action of the spring 14 to restore the locking state. At this time, the main ring 19 is stuck by the outer end of the extended locking block 13 and cannot be detached from the parking structure 5. In other embodiments, the square hole 121 can be replaced with a round hole. Correspondingly, the locking block 13 is replaced with a cylindrical block adapted to the round hole.

[0050] As a preferred solution, it is preferred to evenly distribute four square holes 121 on the outer periphery of the main cylindrical structure 12. Correspondingly, four locking blocks 13 are arranged. The four locking blocks 13 are respectively located in the four directions of 0 degrees, 90 degrees, 180 degrees, and 270 degrees on the circumference of the main cylindrical structure 12.

[0051] The structural design of the above-mentioned locking block 13, spring 14 and square hole 121 can ensure that the drone lands smoothly on the parking structure 5. To ensure that the drone can take off smoothly on the parking structure 5, a drone unlocking mechanism needs to be provided. The drone unlocking mechanism includes a transmission shaft 16, a motor gear 17 and an unlocking motor 18. The unlocking motor 18 is arranged at the bottom of the main cylindrical structure 12. During installation, the unlocking motor 18 is embedded inside the main platform 2; the output shaft of the unlocking motor 18 penetrates through the center of the main cylindrical structure 12 and is coaxially connected to the motor gear 17 inside the main cylindrical structure 12. The motor gear 17 is located in the intersection area of each square hole 121. The transmission shafts 16 are arranged in one-to-one correspondence with the square holes 121. A transmission shaft 16 is movably installed in each square hole 121. The outer end of the transmission shaft 16 sequentially penetrates through the baffle 15 and the spring 14 and then is in sliding fit with the inner end of the locking block 13. The transmission shaft 16 is also in sliding fit with the baffle 15. A limit block is provided at the outer end of the transmission shaft 16 to prevent the outer end of the transmission shaft 16 from slipping out of the locking block 13. There is enough relative sliding space between the locking block 13 and the outer end of the transmission shaft 16 to ensure that when the drone lands, the locking block 13 can be smoothly pushed back by the main ring 19, and during this pushing-back process, the transmission shaft 16 is stationary and the locking block 13 slides relative to the transmission shaft 16; a driven gear is provided at the inner end of the transmission shaft 16. The driven gear at the inner end of any one transmission shaft 16 is meshed with the motor gear 17. The transmission shaft 16 is preferably a two-link or three-link structure. When the drone needs to take off, the unlocking motor 18 drives the motor gear 17 to rotate, and then drives each transmission shaft 16 to move through the driven gear, so that the locking block 13 can be pulled back by the transmission shaft 16. During this process, the spring 14 is compressed; after the drone takes off, the unlocking motor 18 drives the motor gear 17 to rotate in the reverse direction, and then each transmission shaft 16 can be driven to move in the reverse direction through the driven gear, so that each locking block 13 can be pushed out to the locked position by the transmission shaft 16 (during this process, the spring 14 is reset) and waits for the next drone landing. It should be noted that when the unlocking motor 18 drives the transmission shaft 16 to move, it is mainly divided into two stages: Stage 1, the transmission shaft 16 and the locking block 13 move relative to each other, and the locking block 13 is stationary relative to the square hole 121; Stage 2, the transmission shaft 16 uses the limit block at its end to pull back the locking block 13 or push the locking block 1 out.

[0052] The transmission shaft 16 preferably has a three-link structure, that is, it includes three link rods. The two ends of the middle link rod are respectively hinged to the link rods on both sides of the middle link rod. One of the link rods on both sides of the middle link rod fixes the driven gear, and the other end is provided with the aforementioned limit block and is in sliding limit connection with the locking block 13.

[0053] In some feasible embodiments, to avoid accidents during the takeoff and landing of the drone, it is preferred to set an LED vision guide 21 at the top of the parking structure 5, which can guide the drone to land precisely and enhance the landing accuracy of the drone. At the same time, the pan-tilt camera 8 can be used to monitor the takeoff and landing process of the drone, facilitating accident analysis and recall. The LED vision guide 21 preferably consists of LED lights.

[0054] In some embodiments, a positioning structure adapted to the parking structure 5 is provided on the landing gear of the drone. The positioning structure includes a main ring 19 and an auxiliary ring 20 coaxial with the main ring 19. The main ring 19 is located at the bottom of the drone landing gear. The axial height of the main ring 19 is the same as the axial height of the shaded part (i.e., the inductive charging unit) of the main cylindrical structure 12. The inner diameter of the main ring 19 is the same as or slightly larger than the outer diameter of the main cylindrical structure 12. An inductive power receiving unit is provided inside the main ring 19, which can charge the drone through the inductive charging unit inside the main cylindrical structure 12. The inductive power receiving unit is electrically connected to the power supply system of the drone to supply power for the normal operation of the drone. Both the inductive power receiving unit and the inductive charging unit are existing mature charging technologies and will not be elaborated here. The axial height of the auxiliary ring 20 is the same as the axial height of the auxiliary cylindrical structure 11. The inner diameter of the auxiliary ring 20 is the same as or slightly larger than the outer diameter of the auxiliary cylindrical structure 11. When the drone lands, the main ring 19 presses the locking block 13 to contract towards the inside of the parking structure 5. When it has landed completely, the locking block 13 pops out under the elastic force of the internal spring 14 to limit the vertical shaking of the drone. By using the geometric dimension relationship between the main ring 19, the main cylindrical structure 12, the auxiliary ring 20, and the auxiliary cylindrical structure 11, the horizontal shaking of the drone can be restricted to ensure the stability of the drone during parking.

[0055] In some feasible embodiments, the aforementioned environmental monitoring unit preferably adopts an image acquisition unit, such as a camera, etc. To enhance the functionality of the entire parking platform, it is preferred that the environmental monitoring unit adopts a pan-tilt camera 8 with an automatic angle adjustment function. The pan-tilt camera 8 is a mature product, and its specific structure and functional principle will not be elaborated here.

[0056] For the above-mentioned drone sea parking platform 100, by collecting meteorological information through the meteorological monitoring unit 9, it can be determined whether the drone is ready for takeoff. The pan-tilt camera 8 can monitor the takeoff and landing process of the drone in real time. Through the satellite communication unit 10, the remote monitoring center can control the drone sea parking platform 100 in real time and obtain the video data of the pan-tilt camera 8 and the drone.

[0057] Based on the above-mentioned drone sea parking platform 100, a method for the pan-tilt camera to automatically track and monitor the drone, as well as the overall working process of the drone sea parking platform 100, are proposed below.

[0058] (1) The process principle of the pan-tilt camera 8 automatically tracking and monitoring the UAV mainly includes the following three parts: The first part: Calculation of the initial angle for the pan-tilt camera 8 to automatically track the UAV. When the UAV takes off, it is necessary to adjust the pan-tilt camera 8 to face the UAV directly. The position where the pan-tilt camera 8 faces directly is shown in Figure 8. Assume that the center of the bottom of the support rod of the pan-tilt camera 8 is the coordinate origin O, the direction in which the platform connecting rod 4 corresponding to the sub-platform 3 where the pan-tilt camera 8 is located points to the main platform 2 is the positive direction of the X-axis, and the upward direction of the support rod of the pan-tilt camera 8 is the positive direction of the Z-axis. Then the position of the pan-tilt camera 8 is , and the initial position of the UAV is , then the initial horizontal angle and vertical angle of the pan-tilt camera 8 facing the UAV directly are as follows:

[0059] This angle can be used as the initial preset position for the pan-tilt camera 8 to track the UAV during takeoff and does not need to be calculated every time.

[0060] The second part: Calculation of any tracking angle for the pan-tilt camera 8 to automatically track the UAV. As Figure 9 shown, when the UAV is at any position during the takeoff process, the longitude and latitude position and altitude of the UAV are obtained through the UAV positioning system. Assume that the relative coordinates obtained through calculation are , then the horizontal angle and vertical angle of the pan-tilt camera 8 are as follows:

[0061] The third part: Calculation of the distance between the pan-tilt camera 8 and the UAV. Based on the relative coordinates of the UAV calculated, the straight-line distance between the pan-tilt camera 8 and the UAV is calculated as follows:

[0062] Based on the above process principle of the pan-tilt camera 8 automatically tracking and monitoring the UAV, the tracking process of the pan-tilt camera 8 during the UAV takeoff process is as follows: Step 11: When the UAV sea parking platform 100 receives the UAV takeoff instruction through the satellite communication unit 10, adjust the horizontal angle and vertical angle of the pan-tilt camera 8 to .

[0063] Step 12: After the UAV takes off, the UAV sea parking platform 100 calculates the relative coordinates of the UAV according to the period T, calculate the horizontal and vertical angles of the pan-tilt camera 8 .

[0064] Step 13. Adjust the horizontal and vertical angles of the pan-tilt camera 8 to .

[0065] Step 14. Calculate and determine whether the distance between the pan-tilt camera 8 and the UAV exceeds the threshold If , return to Step 12 to continue calculating and tracking; if , then terminate the tracking of the take-off process of the UAV by the pan-tilt camera 8.

[0066] Based on the above process principle of the automatic tracking and monitoring of the UAV by the pan-tilt camera 8, the tracking process of the pan-tilt camera 8 during the UAV landing process is as follows: Step 21. The UAV sea parking platform 100 calculates the relative coordinates of the UAV according to the period T , calculate and determine whether the distance between the pan-tilt camera 8 and the UAV is less than the threshold .

[0067] Step 22. When , calculate the horizontal and vertical angles of the pan-tilt camera 8 , and adjust the horizontal and vertical angles of the pan-tilt camera 8 to .

[0068] Step 23. If the UAV has not landed on the UAV sea parking platform 100, calculate the relative coordinates of the UAV according to the period T , calculate , and return to Step 22 to continue calculating and tracking.

[0069] Step 24. After the UAV lands on the UAV sea parking platform 100, terminate the tracking of the UAV landing process by the pan-tilt camera 8.

[0070] (2) The overall working process of the UAV sea parking platform 100 includes a take-off process and a landing process.

[0071] 1. The take-off process is as follows: 11. After the UAV sea parking platform 100 receives the UAV flight mission and take-off instruction from the remote monitoring center through the satellite communication unit 10, it judges whether it has the take-off condition according to the meteorological data collected by the meteorological monitoring unit 9. If not, it feeds back to the remote monitoring center that it does not have the take-off condition and cannot execute the flight mission.

[0072] 12. If it is determined that the takeoff conditions are met, the UAV sea parking platform 100 will open the hatch 6 by controlling the hatch connecting rod 7.

[0073] 13. The UAV sea parking platform 100 activates the automatic tracking and monitoring function of the takeoff process of the pan-tilt camera 8, and the monitoring video of the pan-tilt camera 8 is transmitted back to the backend monitoring center in real time through the satellite communication unit 10.

[0074] 14. The UAV sea parking platform 100 drives the motor gear 17 to rotate by rotating the unlocking motor 18, pulls the locking block 13 to contract inside the parking mechanism 5 through the transmission shaft 16, unlocks the position limit of the UAV, and sends a takeoff permission command to the UAV.

[0075] 15. After the UAV takes off, the UAV sea parking platform 100 transmits the received UAV payload monitoring data back to the backend monitoring center in real time through the satellite communication unit 10 to achieve remote UAV monitoring and perception at sea.

[0076] 16. The UAV sea parking platform 100 closes the hatch 6 by controlling the hatch connecting rod 7.

[0077] 2. The landing process is as follows: 21. After the UAV returns after completing the flight mission, when the predetermined distance determination condition is reached, the UAV sea parking platform 100 activates the automatic tracking and monitoring function of the landing process of the pan-tilt camera 8, and the monitoring video of the pan-tilt camera 8 is transmitted back to the backend monitoring center in real time through the satellite communication unit 10.

[0078] 22. The UAV sea parking platform 100 opens the hatch 6 by controlling the hatch connecting rod 7.

[0079] 23. When the UAV approaches the main platform 2 of the UAV sea parking platform 100, the LED vision guidance 21 is used to guide the UAV to land precisely.

[0080] 24. During the landing process of the UAV, the main ring 19 presses the locking block 13 to contract inside the parking structure 5, and when it has landed completely, the locking block 13 pops outwards to lock the UAV.

[0081] 25. The UAV sea parking platform 100 closes the hatch 6 by controlling the hatch connecting rod 7.

[0082] In summary, for the unmanned aerial vehicle (UAV) maritime parking platform 100 proposed by the present invention, the overall buoy platform adopts a structure of a main platform plus sub-platforms. The sub-platforms are connected to the main platform through platform connecting rods. The sub-platforms can be balanced by counterweights, making the buoyancy received by the entire buoy platform more uniform and improving stability. The center of the main platform is a parking structure, which provides landing visual guidance for the UAV, locks the residence position of the UAV, and conducts inductive charging for the UAV. The sub-platforms carry pan-tilt cameras, meteorological monitoring units, and satellite communication units. The meteorological monitoring unit provides key meteorological information for the safe takeoff of the UAV; the pan-tilt camera monitors the takeoff and landing processes of the UAV in real time, facilitating accident analysis and backtracking; the satellite communication unit provides a communication transmission channel for the buoy platform system, enabling real-time remote monitoring and control of the buoy platform system. The entire system fully considers the stability of the buoy platform, the precise landing of the UAV, parking locking, charging, takeoff condition judgment, automatic tracking and monitoring during the takeoff and landing processes, and remote monitoring and control, and has good safety and completeness.

[0083] The above-mentioned UAV maritime parking platform 100 can be deployed in the mid-ocean and far-sea areas of the ocean to provide a takeoff and landing platform for the UAV. The platform can guide the UAV to land precisely. When the UAV stays in the platform, it can safely lock and store the UAV, protecting the UAV from the influence of sea wave shaking and seawater erosion; the platform has an automatic charging function to provide power for the UAV's endurance; it has satellite communication capabilities, facilitating real-time monitoring of the UAV platform status by the backend and real-time acquisition of data collected by the UAV. The UAV maritime parking platform 100 of the present invention can be placed in the target sea area in the same way as a traditional ocean buoy and anchored at a designated position, solving the problem that it is difficult to use UAVs for mid-ocean and far-sea monitoring under the existing UAV technology, and making up for the limitations of the monitoring capabilities of traditional buoys and remote sensing satellites by utilizing the high-precision and high-mobility monitoring capabilities of UAVs.

[0084] For the UAV landing gear structure proposed by the present invention, a main ring and an auxiliary ring are added in the middle of the traditional landing gear structure. By using the geometric constraint relationship between the main ring, the auxiliary ring and the parking structure, the horizontal position of the UAV when parked on the platform can be limited, without the need for complex electronic control and mechanical structures, increasing the stability and maintainability of the function.

[0085] The parking structure in the center of the main platform of the present invention is equipped with a drone locking structure for defining the vertical position of the drone. The locking structure includes a locking block, a spring, a transmission shaft, a baffle, a motor gear, and an unlocking motor. When the drone lands, the unlocking motor does not need to work. The main ring on the landing gear of the drone presses the locking block to contract into the parking structure. When the drone lands completely, the locking block will automatically pop out under the elastic force of the spring to lock the position of the drone in the vertical direction. When the drone takes off, the unlocking motor is used to drive the motor gear and the transmission shaft to pull the locking block to contract into the parking structure to release the lock. The locking process during the landing of the drone does not require the unlocking motor to work. Since it is difficult to find an alternate landing area for the drone at sea, the drone can still land on the platform even when the unlocking motor fails, which increases the safety of the drone.

[0086] The method for tracking and monitoring the takeoff and landing of a drone by the pan-tilt camera proposed by the present invention is as follows: during the takeoff and landing of the drone, when the drone is within the range of tracking and monitoring, the horizontal angle and vertical angle of the pan-tilt camera tracking the drone are periodically calculated, and the horizontal angle and vertical angle of the pan-tilt camera are adjusted according to the calculation results, so that the pan-tilt camera can continuously track and monitor the drone. This method does not require additional equipment and can monitor the key takeoff and landing processes of the drone only by relying on software calculation and control, with simple implementation and strong practicability.

[0087] Based on the structure, each functional unit of the invented drone sea parking platform 100 and the method for tracking and monitoring by the pan-tilt camera, the present invention proposes the working process of the drone sea parking platform 100, including the takeoff process and the landing process. The working process realizes the overall working process of the drone buoy platform system and has good integrity.

[0088] Embodiment 2 This embodiment proposes an ocean monitoring system that can be used for mid-to-far sea monitoring. The system includes a drone 200 for ocean monitoring and the drone sea parking platform 100 of Embodiment 1. A main ring 19 and an auxiliary ring 20 are provided on the landing gear of the drone 200. The main ring 19 is located at the bottom of the landing gear of the drone, and an inductive power receiving unit is provided on the main ring 19. The inductive power receiving unit can charge the drone 200 through the inductive charging unit in the main cylindrical structure 12.

[0089] It should be noted that the structures, proportions, sizes, etc. depicted in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope of implementation of the present invention.

[0090] Specific examples are used in the present invention to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, there will be changes in the specific implementation manners and application scopes according to the idea of the present invention. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An offshore parking platform for unmanned aerial vehicles, characterized in that: The invention comprises a buoy platform, a parking structure (5), an environmental monitoring unit and a satellite communication unit (10); the buoy platform can float on the sea surface and provide a parking place for a drone; the parking structure (5), the environmental monitoring unit and the satellite communication unit (10) are all arranged on the buoy platform; the parking structure (5) can guide the drone to land and charge the drone after landing; the environmental monitoring unit can monitor the surrounding environment of the parking platform and the take-off and landing process of the drone; the satellite communication unit (10) is communicatively connected with the parking structure (5), the environmental monitoring unit and a rear monitoring center to establish a communication transmission channel between the parking platform and the rear monitoring center; the satellite communication unit (10) is also used for communicating with the drone to control the take-off and landing and communication of the drone.

2. The UAV offshore parking platform according to claim 1, characterized in that: It also comprises a meteorological monitoring unit (9), which is arranged on the buoy platform and is capable of monitoring the weather around the stationed platform to provide meteorological information for the take-off of the drone.

3. The UAV offshore parking platform according to claim 2, characterized in that: The buoy platform comprises a main platform (2) and a sub-platform (3); the parking structure (5) is arranged on the main platform (2); at least three sub-platforms (3) are arranged and are evenly distributed on the periphery of the main platform (2); any sub-platform (3) is connected to the main platform (2) via a platform connecting rod (4); the environmental monitoring unit, the meteorological monitoring unit (9) and the satellite communication unit (10) are respectively installed on different sub-platforms (3).

4. The UAV offshore parking platform according to claim 3 is characterized in that: It also includes a protection component, which includes a hatch cover (6), a hatch cover connecting rod (7) and a hatch cover opening and closing motor; the hatch cover (6) is connected to the main platform (2) via two groups of hatch cover connecting rods (7), and the two groups of hatch cover connecting rods (7) are symmetrically distributed on both sides of the hatch cover (6); any group of the hatch cover connecting rods (7) includes a connecting rod 1 (71) and a connecting rod 2 (72) hinged to the connecting rod 1 (71), and the end of the connecting rod 2 (72) is connected to the connecting rod 1 (71). The outer wall of the hatch cover (6) is hinged, and the end of the connecting rod (71) is hinged to the side wall of the main platform (2) through a hinge shaft (73); the main platform (2) is a cavity structure, and two groups of hatch cover opening and closing motors are arranged therein, and the output ends of the two groups of hatch cover opening and closing motors are respectively connected to the hinge shafts (73) of the two groups of hatch cover connecting rods (7), and the hatch cover opening and closing motors are used to drive the connecting rod (71) to rotate, so as to drive the hatch cover (6) to open or close.

5. The UAV offshore parking platform according to claim 3 or 4, characterized in that: The main platform (2) is also provided with a power supply unit, and the parking structure (5), the environment monitoring unit, the meteorological monitoring unit (9) and the satellite communication unit (10) are all electrically connected to the power supply unit.

6. The UAV offshore parking platform according to any one of claims 1 to 4, characterized in that: The parking structure (5) comprises an auxiliary cylindrical structure (11) and a main cylindrical structure (12) which are coaxially arranged, the auxiliary cylindrical structure (11) and the main cylindrical structure (12) being connected via a conical cylindrical structure; the diameter of the auxiliary cylindrical structure (11) is smaller than the diameter of the main cylindrical structure (12), and the main cylindrical structure (12) is connected to the buoy platform; an inductive charging unit capable of inductively charging the drone is arranged inside the main cylindrical structure (12), and the inductive charging unit is arranged close to the axial lower end of the main cylindrical structure (12).

7. The UAV offshore parking platform according to claim 6, characterized in that: The invention also comprises a drone locking mechanism and a drone unlocking mechanism; the drone locking mechanism comprises a locking block (13), a spring (14), a baffle (15), and a square hole (121) opened at the axial upper end of the main cylindrical structure (12); the square hole (121) passes through the outer wall of the main cylindrical structure (12); the baffle (15) is fixed in the square hole (121); the locking block (13) is slidably installed in the square hole (121); and the spring (14) is connected between the inner end of the locking block (13) and the baffle (15). The locking block (13) is provided with a downwardly facing inclined wedge surface (131) at the top of the outer end of the locking block (13); when the UAV is landing, the main ring (19) at the bottom of the landing gear can squeeze the locking block (13) through the inclined wedge surface (131) and make the locking block (13) retract into the square hole (121); after the landing of the UAV is completed, the locking block (13) can extend out of the square hole (121) under the resetting action of the spring (14) to lock the UAV in a limited position through the outer end of the locking block (13); The unmanned aerial vehicle unlocking mechanism comprises a transmission shaft (16), a motor gear (17) and an unlocking motor (18); the motor gear (17) is arranged at the axial upper end of the main cylindrical structure (12); the unlocking motor (18) is arranged on the parking structure (5); and the output end of the unlocking motor (18) is coaxially connected to the motor gear (17); after the outer end of the transmission shaft (16) movably passes through the baffle (15), it is slidably matched with the inner end of the locking block (13); and the outer end of the transmission shaft (16) is A limit block is provided to prevent the outer end of the transmission shaft (16) from slipping out of the locking block (13); the inner end of the transmission shaft (16) is meshed with the motor gear (17) via a driven gear; the unlocking motor (18) is capable of driving the motor gear (17) to rotate, so as to pull the locking block (13) back into the square hole (121) via the transmission shaft (16) to release the lock on the drone, or to push the locking block (13) out of the square hole (121) to wait for the next drone landing.

8. The UAV offshore parking platform according to any one of claims 2 to 4, characterized in that: The environment monitoring unit is a pan-tilt camera (8).

9. A method for tracking a drone on a drone offshore parking platform as claimed in claim 8, characterized in that: The invention comprises a method for tracking the take-off process of a drone and a method for tracking the landing process of a drone; the method for tracking the take-off process of a drone comprises: step 11, after the satellite communication unit (10) receives the take-off instruction of the drone, adjusting the horizontal angle and the vertical angle of the pan-tilt camera (8) to ; Step 12, after the drone takes off, calculate the relative coordinates of the drone according to the period T , and calculate the horizontal angle and vertical angle of the pan / tilt camera (8) ; Step 13, adjust the horizontal angle and vertical angle of the pan / tilt camera (8) to ; Step 14, calculate and determine the distance between the pan-tilt camera (8) and the drone Whether it exceeds the threshold ,like Then return to step 12 to continue calculating and tracking. The pan / tilt camera (8) stops tracking the take-off process of the drone. The method for tracking the landing process of the drone includes: step 21, calculating the relative coordinates of the drone according to the period T. , calculate and determine the distance between the pan-tilt camera (8) and the drone Is it less than the threshold? ; Step 22, when When calculating the horizontal angle and vertical angle of the pan / tilt camera (8) , and adjust the horizontal and vertical angles of the pan / tilt camera (8) to ; Step 23, if the drone does not land on the drone offshore parking platform (100), the relative coordinates of the drone are calculated according to the period T ,calculate , return to step 22 to continue calculation and tracking; step 24, when the UAV lands on the UAV offshore parking platform (100), terminate the tracking of the UAV landing process by the pan-tilt camera (8).

10. An ocean monitoring system, characterized in that: The invention comprises an unmanned aerial vehicle (200) for ocean monitoring and an unmanned aerial vehicle offshore parking platform (100) as claimed in claim 6 or 7, wherein the unmanned aerial vehicle (200) is communicatively connected to the satellite communication unit (10); a positioning structure adapted to the parking structure (5) is arranged on the landing gear of the unmanned aerial vehicle (200), the positioning structure comprising a main ring (19) and an auxiliary ring (20) coaxial with the main ring (19), the main ring (19) being located at the bottom of the landing gear of the unmanned aerial vehicle, and an inductive power receiving unit matching the inductive charging unit is arranged in the main ring (19), the main ring (19) being used to be mounted on the outside of the main cylindrical structure (12) so as to charge the unmanned aerial vehicle through the inductive charging unit; the auxiliary ring (20) being used to be mounted on the outside of the auxiliary cylindrical structure (11).

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