Semi-submersible parking cabin and unmanned aerial vehicle inspection system

Abstract

The invention relates to a semi-submersible parking cabin and an unmanned aerial vehicle inspection system, and belongs to the technical field of unmanned aerial vehicles. Comprising a bearing device which is used for parking and centering of the unmanned aerial vehicle and comprises a supporting plate; the buoyancy adjusting device is used for providing buoyancy for the bearing device and comprises a semi-submersible platform; the automatic leveling device comprises a first inclination angle detection module, a second inclination angle detection module, a control module and an execution assembly, the two inclination angle detection modules are connected with the control module; the control module is connected with the execution assembly; the first dip angle detection module is connected with the supporting plate and detects dip angle information of the supporting plate in real time; the second inclination angle detection module is connected with the semi-submersible platform and detects inclination angle information of the semi-submersible platform in real time; the control module controls the execution assembly according to the two inclination angle information; and the driving device supplies power to the automatic leveling device. The cruising ability of the parking cabin is improved, human input and operation risks are reduced, the inspection coverage range is expanded, and the problem of unstable take-off and landing caused by shaking of the water platform is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a semi-submersible parking cabin and an unmanned aerial vehicle inspection system. Background Art

[0002] With the acceleration of the deep-sea and far-sea development process, offshore wind farms and ocean ranches have become important pillars of the new energy and food security strategies. However, their efficient operation and maintenance face many severe challenges. The traditional manual inspection method is difficult to meet the management needs of offshore facilities due to problems such as high cost, high risk, and lagging response in harsh sea conditions. In recent years, unmanned aerial vehicle inspection technology has gradually become a key technology to solve the pain points of offshore facility management by virtue of its core advantages such as full-domain coverage, real-time response, and intelligent diagnosis. However, at the same time, some problems that need to be solved urgently have also emerged in the offshore application scenarios of unmanned aerial vehicles.

[0003] On the one hand, the unmanned aerial vehicle itself has the problem of rapid power consumption, and the endurance time supported by a single battery is extremely limited. In addition, it is difficult to charge at the offshore operation site, and operators often need to carry a large number of power batteries, which not only increases the labor burden but also makes the cost-efficiency advantage of unmanned aerial vehicles in offshore application scenarios unable to be fully realized. On the other hand, the offshore area is vast, the location of the helipad limits the inspection range of the unmanned aerial vehicle, and the offshore platform will shake violently under the influence of wind, waves, currents, etc., resulting in unstable takeoff and landing of the unmanned aerial vehicle. These problems have restricted the further promotion and application of unmanned aerial vehicle inspection technology in the management of offshore facilities to a certain extent. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the limited endurance time of a single battery, high dependence on manpower, limited inspection range, and unstable takeoff and landing caused by the shaking of the offshore platform in the prior art.

[0005] In a first aspect, to solve the above technical problem, the present invention provides a semi-submersible parking cabin, including:

[0006] A carrying device for the parking and centering of the unmanned aerial vehicle; the carrying device includes a tray.

[0007] A buoyancy adjustment device for providing buoyancy to the carrying device; the buoyancy adjustment device includes a semi-submersible platform.

[0008] An automatic leveling device, comprising a first inclination detection module, a second inclination detection module, a control module and an execution component; the first inclination detection module and the second inclination detection module are both connected to the control module; the control module is connected to the execution component; the first inclination detection module is connected to the pallet, and is used for detecting the inclination angles of the pallet in the X-axis and Y-axis directions in real time to obtain first inclination information; the second inclination detection module is connected to the semi-submersible platform, and is used for detecting the inclination angles of the semi-submersible platform in the X-axis and Y-axis directions in real time to obtain second inclination information; the control module is used for issuing a control instruction according to the first inclination information and the second inclination information; the execution component is used for executing the control instruction;

[0009] A driving device, connected to the automatic leveling device;

[0010] Wherein, the driving device supplies power to the control module, the first inclination detection module, the second inclination detection module and the execution component; the control module realizes the automatic leveling of the pallet according to the detection data of the first inclination detection module and the second inclination detection module, and through the buoyancy adjustment device and the execution component; when the pallet is in a horizontal state, the waiting-to-land unmanned aerial vehicle lands in the loading device.

[0011] In an embodiment of the present invention, the execution component includes a servo motor, a coupling block, a rocker and a push rod; the servo motor is connected to the control module, obtains the required rotation angle, and transmits torque through the coupling block; the coupling block is connected to the rocker, and the rotation of the rocker drives the push rod to push or retract; the push rod is connected to the pallet.

[0012] In an embodiment of the present invention, the control instruction is obtained according to the first inclination information and the second inclination information; the first inclination information includes a first X-axis inclination angle and a first Y-axis inclination angle; the second inclination information includes a second X-axis inclination angle and a second Y-axis inclination angle;

[0013] When the first X-axis inclination angle is not 0 and the first Y-axis inclination angle is 0, the control instruction is that the servo motor rotates based on the difference between the first X-axis inclination angle and the second X-axis inclination angle with the semi-submersible platform as a reference until the first X-axis inclination angle is 0;

[0014] When the first X-axis inclination angle is 0 and the first Y-axis inclination angle is not 0, the control instruction is that the servo motor rotates based on the difference between the first Y-axis inclination angle and the second Y-axis inclination angle with the semi-submersible platform as a reference until the first Y-axis inclination angle is 0.

[0015] In an embodiment of the present invention, the carrying device further includes a first driving module, a hatch module, and a centering regulation module; the first driving module is respectively connected to the hatch module and the centering regulation module.

[0016] In an embodiment of the present invention, the hatch module includes a transmission device and a hatch frame; the first driving module is connected to the transmission device, and the transmission device is connected to the hatch frame.

[0017] In an embodiment of the present invention, the centering regulation module includes a centering plate, a centering connecting plate, and a helipad; the centering plate is connected to the centering connecting plate; the centering plate and the centering connecting plate are located on opposite sides of the helipad; the centering connecting plate is connected to the first driving module.

[0018] In an embodiment of the present invention, the buoyancy adjustment device includes a semi-submersible platform frame; a retaining ring, a counterweight block, and a counterweight rod are provided inside the semi-submersible platform frame; the counterweight rod is arranged below the semi-submersible platform and passes through the bottom baffle of the semi-submersible platform frame; both the retaining ring and the counterweight block are sleeved on the counterweight rod.

[0019] In an embodiment of the present invention, the buoyancy adjustment device further includes a plurality of pontoons; the plurality of pontoons are arranged on the periphery of the semi-submersible platform frame; a wind power generation device is provided above the plurality of pontoons.

[0020] In an embodiment of the present invention, the first inclination detection module is located at the center position of the bottom surface of the pallet, and the second inclination detection module is located at the center position of the semi-submersible platform.

[0021] In a second aspect, to solve the above technical problems, the present invention provides a drone inspection system, including the above-mentioned semi-submersible parking cabin.

[0022] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0023] (1) A semi-submersible aircraft hangar and an unmanned aerial vehicle (UAV) inspection system according to the present invention can monitor the inclination angles of the pallet and the semi-submersible platform in real time through an automatic leveling device, and automatically adjust the pallet to a horizontal state according to the detected data. This function ensures that the UAV can land smoothly when landing, effectively avoiding landing accidents caused by platform inclination. In addition, the collaborative work of the buoyancy adjustment device and the execution assembly further optimizes the horizontal state of the pallet, providing a more stable parking environment for the UAV. The design of the semi-submersible platform reduces the disturbing force of waves. Combined with the automatic leveling device, even in a complex marine environment, a stable takeoff and landing platform can be provided for the UAV, thus greatly expanding the applicable range of the UAV in offshore operations. Through functions such as automatic leveling, buoyancy adjustment, and intelligent control, the present invention improves the landing safety, stability, and operation efficiency of the UAV in complex environments, reduces labor costs and operation risks, and improves the reliability and intelligent level of the aircraft hangar.

[0024] (2) The present invention can improve the endurance and working efficiency of the UAV through solar power generation and wind power generation, effectively solving the problems of limited single-battery endurance time and inconvenient charging at the operation site in traditional aircraft hangars. The six-degree-of-freedom platform has an automatic leveling function, which can ensure that the aircraft hangar always maintains a horizontal state, thus effectively adapting to the shaking working environment caused by sea waves. The semi-submersible platform realizes the construction of a stable offshore aircraft parking platform by balancing the design of the floating cylinder and the counterweight, so that the lower body of the platform sinks underwater, greatly reducing the disturbing force of waves. In addition, the automatic centering function can guide the UAV to accurately return to the center position of the apron, ensuring its stable takeoff and landing. At the same time, the automatic opening and closing design of the hatch further optimizes the release and storage process of the UAV, improving the automation degree and operation convenience of the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to make the content of the present invention easier to be clearly understood, the following further describes the present invention in detail according to specific embodiments of the present invention in combination with the drawings, where:

[0026] Figure 1 is a schematic structural diagram of a semi-submersible aircraft hangar in a preferred embodiment of the present invention;

[0027] Figure 2 is an axonometric view of the assembly of a semi-submersible aircraft hangar in a preferred embodiment of the present invention;

[0028] Figure 3 is a structural diagram of the execution assembly in a preferred embodiment of the present invention;

[0029] Figure 4 is a schematic structural diagram of the bearing device in a preferred embodiment of the present invention;

[0030] Figure 5Axonometric view of the bearing device in the preferred embodiment of the present invention;

[0031] Figure 6 Top view of the bearing device in the preferred embodiment of the present invention;

[0032] Figure 7 Workflow diagram of the bearing device in the preferred embodiment of the present invention;

[0033] Figure 8 Leveling logic process diagram of the automatic leveling device in the preferred embodiment of the present invention;

[0034] Figure 9 Schematic diagram of the inclined plane inclination angle in the preferred embodiment of the present invention;

[0035] Figure 10 Control circuit diagram of the semi-submersible parking cabin in the preferred embodiment of the present invention;

[0036] Figure 11 Workflow diagram of the automatic leveling device in the preferred embodiment of the present invention.

[0037] Explanation of reference numerals in the drawings of the specification: 1. First motor; 2. First coupling; 3. First shaft; 4. Second motor; 5. Second coupling; 6. Second shaft; 7. Centering connecting plate; 8. Frame; 9. Connecting frame; 10. Hatch frame; 11. Slide groove; 12. Slide rail; 13. Helipad; 14. Centering plate; 15. Solar photovoltaic panel; 16. Rack; 17. Gear; 18. Lithium battery; 19. Buoy; 20. Counterweight; 21. Control module; 22. Small wind turbine; 23. First biaxial inclination sensor; 24. Second biaxial inclination sensor; 25. Storage battery; 26. First flange; 27. Retaining ring; 28. Second flange; 29. Counterweight rod; 30. Semi-submersible platform frame; 31. First counterweight fixing plate; 32. Second counterweight fixing plate; 33. Six-degree-of-freedom platform base; 34. Rocker; 35. Servo; 36. Pallet; 37. Push rod; 38. Coupling block. Detailed implementation manners

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the embodiments given are not intended to limit the present invention.

[0039] Embodiment 1

[0040] Refer to Figures 1 to 3 As shown, the embodiment of the present invention provides a semi-submersible parking cabin, including:

[0041] A bearing device for parking and centering of the unmanned aerial vehicle; the bearing device includes a pallet 36;

[0042] A buoyancy adjustment device for providing buoyancy to a carrying device; the buoyancy adjustment device includes a semi-submersible platform;

[0043] An automatic leveling device, including a first inclination detection module, a second inclination detection module, a control module 21, and an execution component; both the first inclination detection module and the second inclination detection module are connected to the control module 21; the control module 21 is connected to the execution component; the first inclination detection module is connected to the pallet 36 for real-time detection of the inclination of the pallet 36 in the X-axis and Y-axis directions to obtain first inclination information; the second inclination detection module is connected to the semi-submersible platform for real-time detection of the inclination of the semi-submersible platform in the X-axis and Y-axis directions to obtain second inclination information; the control module 21 is used to issue a control instruction according to the first inclination information and the second inclination information; the execution component is used to execute the control instruction;

[0044] A driving device, connected to the automatic leveling device;

[0045] Wherein, the driving device supplies power to the control module 21, the first inclination detection module, the second inclination detection module, and the execution component; the control module 21 adjusts the pallet 36 to a horizontal state according to the detection data of the first inclination detection module and the second inclination detection module, and realizes the automatic leveling of the pallet 36 through the buoyancy adjustment device and the execution component; when the pallet 36 is in a horizontal state, the waiting-to-land unmanned aerial vehicle lands in the carrying device.

[0046] An embodiment of the present invention provides a semi-submersible parking cabin, which monitors the inclination of the pallet 36 and the semi-submersible platform in real time through an automatic leveling device, and adjusts the pallet 36 to a horizontal state according to the detection data, ensuring that the unmanned aerial vehicle can land smoothly when landing, and avoiding landing accidents caused by platform tilt. At the same time, the coordinated work of the buoyancy adjustment device and the execution component further optimizes the horizontal state of the pallet 36, providing a more stable parking environment for the unmanned aerial vehicle. The design of the semi-submersible platform can effectively reduce the disturbing force of waves. Combined with the automatic leveling device, even in a complex marine environment, it can provide a stable takeoff and landing platform for the unmanned aerial vehicle, thus expanding the applicable range of the unmanned aerial vehicle in offshore operations. This design is not only applicable to offshore platforms, but also can be applied to other scenarios where unmanned aerial vehicles need to take off and land in an unstable environment, such as lakes, rivers and other waters. The entire leveling and buoyancy adjustment process is automatically completed by the control module 21 without manual intervention, reducing labor input and the risk brought by human operation errors. The organic combination of the carrying device, the buoyancy adjustment device and the automatic leveling device makes the structure of the entire parking cabin more reasonable, and each component works together, improving the overall reliability of the parking cabin. The design of the semi-submersible platform and the buoyancy adjustment device enables it to adapt to harsh marine environments, enhancing the durability of the parking cabin. The present invention improves the landing safety, stability and operation efficiency of the unmanned aerial vehicle in a complex environment through automatic leveling, buoyancy adjustment and intelligent control functions, and reduces labor costs and operation risks.

[0047] Specifically, the bearing device includes a first drive module, a hatch module, and a centering control module. The first drive module is respectively connected to the hatch module and the centering control module. Refer to Figures 4 to 6 As shown, in the first drive module, there are a first motor 1 and a second motor 4. In the hatch module, there are a transmission device and a hatch frame 10; the first drive module is connected to the transmission device, and the transmission device is connected to the hatch frame 10. In the centering control module, there are a centering plate 14, a centering connecting plate 7, and a landing pad 13, and the centering plate 14 is connected to the centering connecting plate 7; the centering plate 14 and the centering connecting plate 7 are located on opposite sides of the landing pad 13; the centering connecting plate 7 is connected to the first drive module.

[0048] Specifically, the bearing device further includes a first coupling 2, a first shaft 3, a second coupling 5, a second shaft 6, and a frame 8. Among them, the frame 8 not only provides a stable installation platform for the first drive module, the hatch module, and the centering control module, but also plays a role in protecting these modules and components from external damage.

[0049] Further, the first motor 1 is a gear motor of the hatch module, and its function is to drive the gear 17 to generate a rotational motion through the first coupling 2 and the first shaft 3. Two groups of racks 16 meshing with the gear 17 are fixed on the connecting frame 9, and the connecting frame 9 is firmly connected to the hatch frame 10. When the gear 17 rotates, the two groups of racks 16 meshing with it will move to the left and right sides accordingly, thereby driving the hatch frame 10 to move synchronously. This layout utilizes the interaction principle of the gear 17 and the racks 16 to realize the automatic opening and closing functions of the hatch of the parking cabin. This design can ensure that the hatch frame 10 moves smoothly and accurately to a predetermined position to complete the opening and closing actions of the hatch by controlling the rotation direction and speed of the gear 17.

[0050] Further, the second motor 4 is responsible for performing the centering function and providing driving force for the centering control module. The so-called centering means accurately moving the UAV to be parked to a preset target landing point. This process is realized by the drive of the second motor 4. It is connected to the second shaft 6 through the second coupling 5, and then drives the centering connecting plate 7 to perform a rotational motion. The rotational movement of the centering connecting plate 7 drives the centering plate 14 to move along the guide rail, thereby realizing the centering operation of the UAV. Among them, the guide rail is arranged on the landing pad 13 and adopts a diagonal layout. This design ensures that the UAV can be accurately parked at its designated position, which not only improves the convenience of operation but also facilitates subsequent maintenance work.

[0051] Furthermore, the transmission device includes a gear 17, a rack 16, and a connecting rod 9. The rack 16 is connected to the connecting rod 9, and the connecting rod 9 is connected to the hatch frame 10. The gear 17 is connected to the first driving module. The first driving module drives the gear 17 to rotate, and the rack 16 meshing with the gear 17 drives the connecting rod 9 to move, and the connecting rod 9 drives the hatch frame 10 to move. In this embodiment, the hatch device includes two hatch frames 10, which are arranged oppositely and are located at both ends of the apron 13 respectively, jointly forming a hatch. Correspondingly, the transmission device includes two connecting rods and two racks 16. Each hatch frame 10 is fixedly connected to a connecting rod 9, and each connecting rod 9 is connected to a rack 16. The two racks 16 are both meshed with a gear 17. When the gear 17 rotates, through the transmission of the rack 16, it drives the two connecting rods to move, thereby driving the two hatch frames 10 to move synchronously along a predetermined track to realize the opening and closing operation of the hatch. In addition, a chute 11 is fixedly connected to the hatch, and the chute 11 cooperates with the slide rail 12 installed on the frame 8 to ensure that the hatch can move smoothly along a fixed route.

[0052] Furthermore, for the apron 13, its purpose is to provide a parking platform for the UAV and is arranged above the frame 8. In the design of the apron 13, the centering plate 14 and the centering connecting plate 7 are arranged on opposite sides of the apron 13. Such a layout aims to optimize the UAV parking process and ensure that the UAV can be accurately guided to the preset position of the apron 13, thereby realizing an efficient centering operation. The preset position can be the center point of the apron 13.

[0053] Furthermore, the two hatch frames 10 are arranged at opposite ends of the apron 13. When the UAV completes centering and is ready to park, the first motor 1 drives the gear 17 to rotate through the first coupling 2 and the first shaft 3, thereby causing the hatch frames 10 at both ends to move to the predetermined position, realizing the automatic closing of the hatch of the parking cabin. On the contrary, when the UAV needs to perform a mission, the hatch frame 10 will automatically move away from the predetermined position, causing the hatch to open automatically, providing the necessary space for the takeoff of the UAV. This automatic opening and closing mechanism further optimizes the UAV operation process and ensures the smoothness and efficiency of the operation.

[0054] Specifically, the first driving module further includes a solar power generation device, which integrates solar photovoltaic panels 15. Its main function is to collect solar energy and efficiently convert it into electrical energy. Multiple solar photovoltaic panels 15 are installed on the outer surface of the hatch frame 10 to maximize the use of available space and improve the energy collection efficiency. The structure of the hatch frame 10 can be designed as a box-shaped structure, which not only provides a stable support for the solar photovoltaic panels 15 but also optimizes the installation angle of the photovoltaic panels to adapt to the best sunlight conditions.

[0055] Furthermore, given that lithium batteries have advantages such as high energy density, long service life, and fast charging. These characteristics not only make lithium batteries suitable for application scenarios that require high-efficiency energy storage and fast charge and discharge capabilities, but also ensure that the system can maintain high efficiency and reliability under various working conditions. Refer to Figure 7 As shown, in this embodiment, the battery for storing the electric energy of the solar power generation device is preferably a lithium battery 18. The lithium battery 18 is used to store the electric energy collected by the solar photovoltaic panel 15 and supply power to the first motor 1, the second motor 4, and each actuator. In addition, the lithium battery 18 can also supply power to the unmanned aerial vehicle to be parked, so that the parking cabin has the function of charging the unmanned aerial vehicle.

[0056] In the embodiment of the present invention, the solar energy is collected by the solar photovoltaic panel 15 and stored in the lithium battery 18, realizing the instant charging function at the operation site and providing a stable energy supply for the first motor 1, the second motor 4, and each actuator. This design effectively solves the problems of limited single-battery endurance time and inconvenient charging at the operation site in the traditional parking cabin.

[0057] Specifically, refer to Figure 2 As shown, the buoyancy adjustment device further includes a semi-submersible platform frame 30. Inside the semi-submersible platform frame 30, there are a first flange 26, a retaining ring 27, a counterweight 20, and a counterweight rod 29. The counterweight rod 29 is arranged below the semi-submersible platform and passes through the baffle at the bottom of the semi-submersible platform frame 30. Below the upper baffle of the semi-submersible platform frame 30, there is a first counterweight fixing plate 31, and the counterweight rod 29 is firmly connected to this fixing plate through the first flange 26. Above the bottom baffle, there is a second counterweight fixing plate 32. The counterweight 20 is sleeved on the counterweight rod 29, above the second counterweight fixing plate 32, and at the center of gravity position of the entire parking cabin. The gravity provided by the counterweight 20 is used to balance the buoyancy, ensuring that the lower part of the parking cabin can sink stably underwater, thereby effectively reducing the disturbing force of the waves. In addition, the counterweight 20 is fixed by the retaining ring 27 above it and the second flange 28 arranged below the bottom baffle of the semi-submersible platform frame 30. The retaining ring 27 is also sleeved on the counterweight rod 29 to ensure the stability of the entire structure.

[0058] Furthermore, the buoyancy adjustment device is also equipped with a plurality of pontoons 19 (for example, 4 pontoons 19). These pontoons 19 are evenly distributed around the semi-submersible platform frame 30 and are connected to the semi-submersible platform frame 30 to provide stable buoyancy support. Above each pontoon 19, a power generation device is installed to generate electricity using natural energy (such as solar energy or wind energy) to provide clean energy support for the operation of the device.

[0059] Specifically, for the automatic leveling device, it includes a first inclination detection module, a second inclination detection module, a control module 21, and an execution component. The first inclination detection module is arranged at the center position of the bottom surface of the pallet 36, responsible for real-time monitoring of the inclination changes of the plane where the pallet 36 is located in the X-axis and Y-axis directions to obtain accurate first inclination information. The second inclination detection module is arranged at the center position of the semi-submersible platform, responsible for real-time monitoring of the inclination changes of the plane where the semi-submersible platform is located in the X-axis and Y-axis directions to obtain accurate second inclination information. The control module 21 is placed on the semi-submersible platform and is responsible for analyzing whether the current plane (the plane where the pallet 36 is located and the plane where the semi-submersible platform is located) is in a horizontal state based on this inclination information. If it is detected that the plane is not horizontal, the control module 21 will issue corresponding control instructions. Among them, in this embodiment, the control module 21 is preferably a programmable logic controller module (abbreviated as PLC control module). The execution component is used to execute the control instructions, and the execution component includes a plurality of servo motors 35, a plurality of coupling blocks 38, a plurality of rockers 34, and a plurality of push rods 37. The servo motor 35 is connected to the control module 21 and receives the required rotation angle. The servo motor 35 transmits torque through the coupling block 38, and the rotation of the rocker 34 drives the push rod 37 to push or retract. The servo motor 35 is connected to the coupling block 38, the coupling block 38 is connected to the rocker 34, the rocker 34 is connected to the push rod 37, and the other end of the push rod 37 is connected to the pallet 36. The function of the coupling block 38 is to ensure the stable transmission of power and can absorb a certain amount of vibration and displacement to improve the stability and reliability of the system. There is a support frame above the semi-submersible platform. The six-degree-of-freedom platform base 33 is arranged above the support frame, and the servo motor 35 is arranged above the six-degree-of-freedom platform base 33. In addition, it should be noted that the number of servo motors 35, coupling blocks 38, rockers 34, and push rods 37 can be flexibly adjusted according to the actual application scenario and design requirements. For example, a configuration scheme of 3 servo motors 35, 6 coupling blocks 38, 6 rockers 34, and 6 push rods 37 can be selected.

[0060] Furthermore, the biaxial inclination sensor, with its high precision and high stability, is widely recognized as an excellent measuring tool. It can simultaneously monitor the tilt angles of the device in two perpendicular directions, providing detailed tilt status information. The sensor has anti-interference ability, advanced built-in filtering function and fast response speed, and these characteristics together ensure its stable performance in various harsh environments. Given these advantages, when the water platform is affected by wind, waves, currents, etc. and generates violent shaking, resulting in unstable takeoff and parking of the UAV, the first inclination detection module and the second inclination detection module can use the biaxial inclination sensor to detect the inclination angles of the apron 13 in the X-axis and Y-axis directions, and send control commands to the servo 35 through the PLC control module. After receiving the control command, the servo 35 transmits torque through the rotating coupling block 38, and then drives the rocker 34. The movement of the rocker 34 is realized through the push rod 37. The push rod 37 can be pushed out or retracted to adjust the position of the pallet 36, so as to achieve the leveling of the parking cabin. Through wind power generation, sensor detection, PLC control and the action of the servo 35, it is ensured that the parking cabin can maintain a horizontal state under various sea conditions, providing a stable platform for the takeoff and landing of the UAV.

[0061] Furthermore, when the parking cabin arrives at the work site, the automatic leveling device needs to perform detection and adjustment operations in sequence to ensure that the pallet 36 is in a horizontal state. The specific control logic of the automatic leveling device is as follows: when the parking cabin arrives at the work site, the first biaxial inclination sensor 23 and the second biaxial inclination sensor 24 are respectively used to detect whether the current plane is horizontal. If the first biaxial inclination sensor 23 detects that the plane is already in a horizontal state, the PLC control module will not start the servo 35, and the servo 35 will not perform the next action, thus ensuring that the parking cabin maintains a horizontal state. On the contrary, if the first biaxial inclination sensor 23 detects that the plane is not horizontal, the PLC control module will issue a control command to start the servo 35 for adjustment.

[0062] Furthermore, the PLC control module issues control commands according to the first inclination information and the second inclination information, where the first inclination information is the inclination data of the pallet 36, including the X-axis inclination (i.e., the first X-axis inclination) and the Y-axis inclination (i.e., the first Y-axis inclination) of the pallet 36; the second inclination information is the inclination data of the semi-submersible platform, including the X-axis inclination (i.e., the second X-axis inclination) and the Y-axis inclination (i.e., the second Y-axis inclination) of the semi-submersible platform.

[0063] Furthermore, referring to Figure 8 and Figure 9 as shown, Figure 8 the symbol "N" in Figure 9In it, -α and -β represent the low side inclination angles. The specific steps for detecting whether the current plane of the pallet 36 is in a horizontal state are as follows:

[0064] Step 1: Determine the reference plane. Define the horizontal plane as the reference plane, that is, the inclination angle α of the X-axis is 0, and the inclination angle β of the Y-axis is 0. When the semi-submersible platform sways, the biaxial inclination sensor will detect the inclination angle α of the X-axis and the inclination angle β of the Y-axis of the plane where it is located. In this embodiment, for the pallet 36, its inclination angle of the X-axis and the inclination angle of the Y-axis are respectively denoted as the first X-axis inclination angle α1 and the first Y-axis inclination angle β1; while for the semi-submersible platform, its inclination angle of the X-axis and the inclination angle of the Y-axis are respectively denoted as the second X-axis inclination angle α2 and the second Y-axis inclination angle β2.

[0065] It should be noted that the two symbols of the inclination angle α of the X-axis and the inclination angle β of the Y-axis of the horizontal plane are introduced to clearly define the inclination angle representation methods of the pallet 36 and the semi-submersible platform, so as to facilitate subsequent analysis and calculation.

[0066] Step 2: Use the first inclination detection module to detect the first X-axis inclination angle α1 and the first Y-axis inclination angle β1 of the pallet 36; at the same time, use the second inclination detection module to detect the inclination angles of the semi-submersible platform, the second X-axis inclination angle α2 and the second Y-axis inclination angle β2.

[0067] When it is detected that the first X-axis inclination angle α1 is not 0 and the first Y-axis inclination angle β1 is 0, the PLC control module will issue a control instruction for leveling in the X direction. The PLC control module calculates according to the difference between α1 - α2, and takes the semi-submersible platform as the reference to adjust the rotation angle required by the steering gear 35. Then, the PLC control module will drive the steering gear 35 to rotate, drive the push rod 37 to push or retract until the first X-axis inclination angle α1 is adjusted to 0.

[0068] When the first X-axis inclination angle α1 is 0 and the first Y-axis inclination angle β1 is not 0, the control instruction is that the steering gear 35 rotates according to the difference between the first Y-axis inclination angle β1 and the second Y-axis inclination angle β2, that is, β1 - β2, and takes the semi-submersible platform as the reference until the first Y-axis inclination angle β1 is 0.

[0069] When both the first X-axis inclination angle α1 and the first Y-axis inclination angle β1 are adjusted to 0, it means that the leveling of the landing cabin is completed.

[0070] In the embodiment of the present invention, two biaxial inclination sensors are respectively used to detect the slopes of the parking cabin pallet 36 and the semi-submersible platform, and the data is fed back to the PLC control module. The control algorithm calculates the angle that the steering gear 35 needs to rotate for leveling with the semi-submersible platform as the reference according to the angle difference between the two platforms. Subsequently, the steering gear 35 transmits torque through the coupling block 38 to drive the rocker 34 to rotate, and then drives the push rod 37 to perform a pushing or retracting action, adjusting the inclination angles of the parking cabin pallet 36 in the X and Y directions until it reaches a horizontal state, realizing the automatic leveling of the platform where the parking cabin is located. This design effectively avoids the violent shaking of the offshore platform caused by factors such as wind, waves, and currents, thereby ensuring the smoothness of the UAV during takeoff and parking, and improving the operation safety and reliability of the UAV in complex marine environments.

[0071] Specifically, the driving device includes a control circuit and a power generation device. In the embodiment of the present invention, the power generation device is a wind power generation device (such as a small wind turbine 22). The small wind turbine 22 uses wind energy to generate electricity and stores it in the storage battery 25, realizing wind energy power generation and storage. The small wind turbine 22 is arranged above each pontoon 19, and the storage battery 25 is arranged on the semi-submersible platform.

[0072] Further, referring to Figure 10 , the control circuit includes a charging controller and a relay. The specific connection structure and working principle are as follows: The charging controller is connected to the wind power generation device and is used to control the electric energy generated by the wind power generation device to avoid damage to the storage battery 25 due to sudden changes in voltage or current. The storage battery 25 is connected to the charging controller and is used to store electric energy for use when the wind energy is insufficient. The relay is controlled by the PLC control module and is used to control the power switch of the steering gear 35. The steering gear 35 is the final execution unit, controlled by the relay, and performs specific mechanical actions. The entire automatic leveling device is powered by the wind power generation device and the storage battery 25. The PLC control module makes logical judgments and controls according to the data of the two biaxial inclination sensors, and controls the action of the steering gear 35 through the relay to realize the automatic control of the parking cabin.

[0073] Further, referring to Figure 7 and Figure 11As shown, the working principle of the parking cabin described in the embodiment of the present invention is: using solar photovoltaic panels 15 and small wind power generation devices to provide power support for the motor in the parking cabin. Among them, the solar photovoltaic panel 15 supplies power to the motor in the parking cabin, and the small wind power generation device supplies power to the steering gear 35, the dual-axis tilt sensor and the PLC control module. The tilt angles of the parking cabin support plate 36 and the semi-submersible platform are detected by two dual-axis tilt sensors respectively, and the data is fed back to the PLC control module. The PLC control module calculates the required rotation angle of the steering gear 35 according to the angle difference between the two platforms, transmits torque through the coupling block 38, drives the rocker 34 to rotate, and then drives the push rod 37 to push or retract, adjusts the tilt angle of the support plate 36 in the X and Y directions, until it reaches a horizontal state, thereby realizing automatic leveling of the platform where the parking cabin is located. This process can effectively adapt to the shaking caused by waves, maintain the balance of the platform, and help the drone to take off and park smoothly. In addition, a semi-submersible platform design is adopted, and the buoy 19 and the counterweight 20 are used to achieve a balance between buoyancy and gravity, so that the lower body of the platform is submerged underwater, so as to significantly reduce the disturbance force of the waves and enhance the safety and stability of the offshore platform. At the same time, the motor drives the return plate 7 to rotate, driving the return plate 14 to move along the diagonal chute 11 on the apron 13, helping the drone to return to the center position accurately. The opening and closing of the door is achieved by the motor driving the gear 17 to rotate, and the two racks 16 meshing with the gear 17 move to the left and right respectively, pushing or pulling the door to complete the opening and closing action.

[0074] An embodiment of the present invention provides a semi-submersible parking cabin, which can improve the endurance and work efficiency of the drone through solar power generation and wind power generation. The six-degree-of-freedom platform base 33 and the actuator assembly have an automatic leveling function, which can ensure that the parking cabin always remains in a horizontal state, thereby effectively adapting to the shaking working environment caused by sea waves. The semi-submersible platform uses a balanced design of a buoy 19 and a counterweight block 20 to allow the lower body of the platform to sink underwater, greatly reducing the disturbance force of the waves and achieving a stable offshore parking platform construction. In addition, the automatic centering function can guide the drone to accurately return to the center position of the apron 13 to ensure its smooth takeoff and landing. At the same time, the automatic opening and closing design of the cabin door further optimizes the launch and storage process of the drone, and improves the automation level and operational convenience of the entire system.

[0075] Embodiment 2

[0076] This embodiment provides a drone inspection system, including a semi-submersible parking cabin provided in the first embodiment.

[0077] The drone inspection system provided in this embodiment is integrated with an automatic leveling device, which can be independently deployed in the ocean, and uses solar and wind power to generate electricity to achieve operations such as drone release, recovery, and charging, thereby reducing the manpower requirements for drone inspections at sea.

[0078] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0079] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0080] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0081] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, such that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or the combination of blocks.

[0082] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A semi-submersible parking cabin, characterized in that, Comprising: A carrying device for the parking and centering of a drone; The carrying device includes a pallet; A buoyancy adjustment device for providing buoyancy to the carrying device; the buoyancy adjustment device includes a semi-submersible platform; An automatic leveling device, including a first inclination detection module, a second inclination detection module, a control module, and an execution component; the first inclination detection module and the second inclination detection module are both connected to the control module; the control module is connected to the execution component; the first inclination detection module is connected to the pallet for real-time detection of the inclination angles of the pallet in the X-axis and Y-axis directions to obtain first inclination information; The second inclination detection module is connected to the semi-submersible platform for real-time detection of the inclination angles of the semi-submersible platform in the X-axis and Y-axis directions to obtain second inclination information; The control module is used to issue a control instruction according to the first inclination information and the second inclination information; the execution component is used to execute the control instruction; A driving device connected to the automatic leveling device; Wherein, the driving device supplies power to the control module, the first inclination detection module, the second inclination detection module, and the execution component; The control module realizes the automatic leveling of the pallet through the buoyancy adjustment device and the execution component according to the detection data of the first inclination detection module and the second inclination detection module; when the pallet is in a horizontal state, the drone to be parked lands in the carrying device.

2. The semi-submersible parking cabin according to claim 1, wherein The execution component includes a servo motor, a coupling block, a rocker, and a push rod; the servo motor is connected to the control module to obtain the required rotation angle and transmits torque through the coupling block; the coupling block is connected to the rocker, and the rotation of the rocker drives the push rod to push or retract; the push rod is connected to the pallet.

3. The semi-submersible hangar according to claim 2, wherein The control instruction is obtained according to the first inclination information and the second inclination information; the first inclination information includes a first X-axis inclination angle and a first Y-axis inclination angle; the second inclination information includes a second X-axis inclination angle and a second Y-axis inclination angle; When the first X-axis inclination angle is not 0 and the first Y-axis inclination angle is 0, the control instruction is that the servo motor rotates based on the difference between the first X-axis inclination angle and the second X-axis inclination angle with the semi-submersible platform as a reference until the first X-axis inclination angle is 0; When the first X-axis inclination angle is 0 and the first Y-axis inclination angle is not 0, the control instruction is that the servo motor rotates based on the difference between the first Y-axis inclination angle and the second Y-axis inclination angle with the semi-submersible platform as a reference until the first Y-axis inclination angle is 0.

4. A semi-submersible parking pod according to claim 1, wherein, The carrying device further includes a first driving module, a hatch module, and a centering control module; the first driving module is respectively connected to the hatch module and the centering control module.

5. A semi-submersible parking cabin according to claim 4, wherein, The hatch module includes a transmission device and a hatch frame; the first driving module is connected to the transmission device, and the transmission device is connected to the hatch frame.

6. The semi-submersible parking pod according to claim 4, characterized in that, The centering control module includes a centering plate, a centering connecting plate, and a helipad; the centering plate is connected to the centering connecting plate; the centering plate and the centering connecting plate are located on opposite sides of the helipad; the centering connecting plate is connected to the first driving module.

7. A semi-submersible parking pod according to claim 1, characterized in that, The buoyancy adjustment device includes a semi-submersible platform frame; a retaining ring, a counterweight, and a counterweight rod are provided inside the semi-submersible platform frame; the counterweight rod is arranged below the semi-submersible platform and passes through the bottom baffle of the semi-submersible platform frame; both the retaining ring and the counterweight are sleeved on the counterweight rod.

8. A semi-submersible parking pod according to claim 1 or 7, characterized in that, The buoyancy adjustment device further includes a plurality of pontoons, and the plurality of pontoons are arranged on the periphery of the semi-submersible platform frame; a wind power generation device is provided above the plurality of pontoons.

9. A semi-submersible parking pod according to claim 1, characterized in that, The first inclination detection module is located at the center position of the bottom surface of the pallet, and the second inclination detection module is located at the center position of the semi-submersible platform.

10. An unmanned aerial vehicle inspection system, characterized in that, It includes a semi-submersible parking cabin according to any one of claims 1 to 9.

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