Offshore unmanned ship with automatic balance take-off and landing platform

Abstract

The invention relates to the technical field of unmanned ships, in particular to an offshore unmanned ship with an automatic balance take-off and landing platform. Comprising a ship body, a six-degree-of-freedom motion platform is installed on the ship body, a controller is installed on the six-degree-of-freedom motion platform, a tilt angle sensor is arranged on the platform of the six-degree-of-freedom motion platform, an electromagnet plate is installed at the top of the platform of the six-degree-of-freedom motion platform, and limiting frames are symmetrically arranged on the platform of the six-degree-of-freedom motion platform in a sliding mode. The six-degree-of-freedom motion platform is matched with the tilt angle sensor and the controller, the posture of the platform can be sensed and adjusted in real time, it is ensured that a relatively stable take-off and landing surface is provided for the unmanned aerial vehicle under various sea conditions, the risk of the unmanned aerial vehicle in the take-off and landing process is greatly reduced, and the safety of the unmanned aerial vehicle is improved. And through the design of the rotating frame, the unmanned aerial vehicle can be protected when the unmanned aerial vehicle is not used, meanwhile, the six-degree-of-freedom motion platform is protected, corrosion caused by seawater sputtering is avoided, and therefore the service life of the unmanned aerial vehicle and the service life of the six-degree-of-freedom motion platform are prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and in particular to a marine unmanned ship with an automatic balancing take-off and landing platform. Background Art

[0002] With the development of science and technology, unmanned ships and drones at sea are being used more and more widely in fields such as ocean monitoring, resource exploration, and military reconnaissance. Especially in complex marine environments, the combination of drones and unmanned ships can significantly improve operational efficiency and safety. However, some problems in existing technologies limit the effectiveness and durability of this combination, especially in the design of drone take-off and landing platforms.

[0003] At present, most of the drone take-off and landing platforms carried by unmanned ships at sea adopt a fixed design. When the unmanned ships at sea are affected by environmental factors such as waves and wind speed, this fixed design of drone take-off and landing platform is difficult to provide a relatively stable take-off and landing surface for the drone, which increases the difficulty and risk of drone take-off and landing. More importantly, traditional take-off and landing platforms lack effective protection measures to withstand the harsh marine environment. When the drone lands on the unmanned ship after completing the mission, the drone and the take-off and landing platform are easily splashed by the surrounding seawater. Due to the high salt content in seawater, the drone and the take-off and landing platform are prone to corrosion after being attached to the seawater for a long time, causing the metal material to gradually lose its mechanical properties, resulting in a decrease in structural strength, seriously affecting the service life of the drone and the take-off and landing platform. Summary of the Invention

[0004] In view of this, the present invention provides an unmanned marine vessel with an automatic balancing take-off and landing platform, which can solve the problem that the UAV take-off and landing platform carried by the existing unmanned marine vessel is difficult to provide a relatively stable take-off and landing surface for the UAV when affected by environmental factors such as waves and wind speed, and the UAV and the take-off and landing platform are easily splashed by the surrounding seawater, which seriously affects the service life of the UAV and the take-off and landing platform.

[0005] The technical solution is as follows: An unmanned marine vessel with an automatic balancing take-off and landing platform comprises a hull, a six-degree-of-freedom motion platform is installed on the hull, a controller is installed on the six-degree-of-freedom motion platform, an inclination sensor is arranged on the platform of the six-degree-of-freedom motion platform, an electromagnet plate is installed on the top of the platform of the six-degree-of-freedom motion platform, and a limit frame is symmetrically slidably arranged on the platform of the six-degree-of-freedom motion platform, a moving mechanism is installed on the platform of the six-degree-of-freedom motion platform, the moving mechanism is used to drive the limit frame to move so that the limit frame limits the UAV, an induction mechanism is installed on the limit frame, a fixed frame is provided on the hull, a rotating frame is symmetrically arranged on the fixed frame for rotation, a second motor is symmetrically installed on the fixed frame, the output shaft of the second motor is connected to the rotating frame, the induction mechanism is used to control the second motor to drive the rotating frame to rotate, and the rotating frame is used to protect the UAV and the six-degree-of-freedom motion platform.

[0006] The mobile mechanism further explains that it includes a bidirectional screw, a first motor, and a right-angle commutator. Four bidirectional screws are installed on the platform of the six-degree-of-freedom motion platform, rotating at intervals. The limit frame is threadedly connected to the bidirectional screws. The first motor is installed on the platform of the six-degree-of-freedom motion platform. The end of one bidirectional screw is connected to the output shaft of the first motor, and the ends of the remaining three bidirectional screws are all transmitted to the adjacent bidirectional screws through the right-angle commutator. The sensing mechanism further explains that it includes a touch plate, a spring, and a touch switch. The touch plate is slidably installed on the limit frame. The touch plate is used to contact the drone. A spring is connected between the touch plate and the limit frame. The limit frame is provided with a touch switch, which is located between the touch plate and the limit frame.

[0007] Further description is provided, and a sealing strip is provided on the rotating frame, and the sealing strip is used to seal between the two rotating frames.

[0008] Further explanation is provided, and the cleaning mechanism includes a liquid storage tank, a water pump, a spray pipe and a hose. The liquid storage tank is installed on the hull, and a water pump is provided on the top of the liquid storage tank. The water inlet of the water pump is connected to the liquid storage tank, and a spray pipe is installed on the rotating frame. The spray pipe is used to spray liquid to clean the drone, and the water outlet of the water pump is connected to the spray pipe through a hose.

[0009] Further explanation: it also includes a shielding mechanism, which includes a limit plate, an airbag, a baffle, a shield and a push plate. The limit plate is installed on the platform of the six-degree-of-freedom motion platform, and a drainage groove is provided on the limit plate. The drainage groove is used to discharge the liquid on the top of the electromagnetic plate. Water troughs are provided at intervals on the hull. The water troughs are used to discharge the liquid falling from the drainage groove from the hull. Four airbags are provided at intervals at the bottom of the limit plate, and a baffle is provided on the side of the airbag facing the electromagnetic plate. A shield is provided on the limit frame. The shield and the baffle are both used to shield the bidirectional screw rod. A push plate is provided at the bottom of the shield, and the push plate is used to push the baffle open.

[0010] Further explanation: a bellows is also included. The outside of the six-degree-of-freedom motion platform is provided with a bellows, which is used to protect the six-degree-of-freedom motion platform, the controller and the inclination sensor.

[0011] Further explanation: it also includes a power generation mechanism, which includes a support platform, photovoltaic panels, batteries and wireless charging modules. The support platform is installed on the hull, and photovoltaic panels are arranged on the support platform. The battery is also installed on the hull. The photovoltaic panels are used to convert solar energy into electrical energy and store it in the battery. A wireless charging module is installed on the top of the electromagnet plate, and the wireless charging module is used to provide the electrical energy in the battery to the drone.

[0012] The beneficial effects of the present invention are as follows: 1. The present invention can sense and adjust the platform attitude in real time through the six-degree-of-freedom motion platform in conjunction with the inclination sensor and controller, ensuring that a relatively stable take-off and landing surface is provided for the UAV under various sea conditions, which greatly reduces the risks of the UAV during take-off and landing. The design of the rotating frame can protect the UAV when it is not in use, and at the same time protect the six-degree-of-freedom motion platform to avoid corrosion caused by seawater splashing, thereby extending the service life of the UAV and the six-degree-of-freedom motion platform.

[0013] 2. The present invention provides a cleaning mechanism so that the drone can be automatically cleaned each time it completes a mission, thereby promptly removing salt and other pollutants that may be attached, further extending the service life of the drone and its components.

[0014] 3. The present invention effectively prevents the erosion of key components (such as the six-degree-of-freedom motion platform, controller, and inclination sensor) by seawater and other harsh marine environmental factors through designs such as bellows and shielding mechanisms, thereby helping to extend the service life of these important components. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0016] Figure 2 It is a schematic diagram of the three-dimensional structure of the hull, six-degree-of-freedom motion platform and controller of the present invention.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the inclination sensor, the electromagnet plate and the limit frame of the present invention.

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the moving mechanism of the present invention.

[0019] Figure 5 For the present invention Figure 4 A in the enlarged view.

[0020] Figure 6For the present invention Figure 4 Enlarged view of point B in .

[0021] Figure 7 It is a schematic diagram of the three-dimensional structure of the fixed frame, the rotating frame and the second motor of the present invention.

[0022] Figure 8 This is a schematic diagram of the three-dimensional structure of the rotating frame of the present invention after it is opened.

[0023] Figure 9 It is a schematic diagram of the three-dimensional structure of the fixing frame, liquid storage tank and water delivery trough of the present invention.

[0024] Figure 10 It is a schematic diagram of the three-dimensional structure of the cleaning mechanism of the present invention.

[0025] Figure 11 It is a schematic diagram of the three-dimensional structure of the limiting frame, limiting plate and drainage trough of the present invention.

[0026] Figure 12 This is a structural separation diagram of the limiting plate and the airbag of the present invention.

[0027] Figure 13 It is a schematic diagram of the three-dimensional structure of the limiting frame, baffle and shielding plate of the present invention.

[0028] Figure 14 It is a schematic diagram of the three-dimensional structure of the limiting frame, the shielding plate and the pushing plate of the present invention.

[0029] Figure 15 It is a schematic diagram of the three-dimensional structure of the bellows and the power generation mechanism of the present invention.

[0030] Markings in the accompanying drawings: 1: hull, 101: UAV, 2: six-degree-of-freedom motion platform, 3: controller, 4: tilt sensor, 5: electromagnet plate, 6: limit frame, 701: bidirectional screw, 702: first motor, 703: right-angle commutator, 801: touch plate, 802: spring, 803: touch switch, 9: fixed frame, 10: rotating frame, 11: second motor, 12: sealing strip, 13: liquid storage tank, 14: water pump, 15: spray pipe, 16: hose, 17: limit plate, 18: drainage trough, 19: water supply trough, 20: airbag, 21: baffle, 2201: shield plate, 2202: push plate, 23: bellows, 24: support platform, 25: photovoltaic panel, 26: battery, 27: wireless charging module. DETAILED DESCRIPTION

[0031] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which presently preferred embodiments of the invention are shown. However, the invention can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness, and will fully convey the scope of the invention to those skilled in the art.

[0032] Example: An unmanned ship with an automatic balancing take-off and landing platform, see Figures 1-8 As shown, it includes a hull 1; it also includes a six-degree-of-freedom motion platform 2, a controller 3, an inclination sensor 4, an electromagnetic plate 5, a limit frame 6, a moving mechanism, a sensing mechanism, a fixed frame 9, a rotating frame 10 and a second motor 11; a six-degree-of-freedom motion platform 2 is installed on the top of the hull 1; a controller 3 is installed on the lower side of the six-degree-of-freedom motion platform 2, and the six-degree-of-freedom motion platform 2 is electrically connected to the controller 3; a inclination sensor 4 is provided on the platform of the six-degree-of-freedom motion platform 2, and the inclination sensor 4 is electrically connected to the controller 3, and the inclination of the platform of the six-degree-of-freedom motion platform 2 is sensed by the inclination sensor 4. When the inclination of the platform of the six-degree-of-freedom motion platform 2 reaches a preset value, the inclination sensor 4 will send a signal to the controller 3, and the controller 3 will control the six-degree-of-freedom motion platform 2 to automatically adjust so that the platform of the six-degree-of-freedom motion platform 2 is in a balanced state so that the UAV 101 can take off and land; an electromagnetic plate 5 is installed on the platform of the six-degree-of-freedom motion platform 2, and the electromagnetic plate 5 is electrically connected to the controller 3. The electromagnetic plate 5 is used to adsorb the UAV 101 , so as to stabilize the UAV 101; four limit frames 6 are symmetrically arranged on the platform of the six-degree-of-freedom motion platform 2, two of which are horizontally distributed and the other two are longitudinally distributed; a moving mechanism is installed on the platform of the six-degree-of-freedom motion platform 2, and the moving mechanism is used to drive the limit frames 6 to move, so that the limit frames 6 limit the UAV 101 so that the UAV 101 stays at the top center position of the electromagnet plate 5; an induction mechanism is installed on the limit frame 6, and a fixed frame 9 is provided on the top of the hull 1. The moving platform 2 is located on the inner side of the fixed frame 9. A rotating frame 10 is provided on the upper side of the fixed frame 9 for symmetrical rotation front and back. Four second motors 11 are installed front and back symmetrically on the side of the fixed frame 9. The second motors 11 are electrically connected to the controller 3. The output shafts of the two second motors 11 on the front side are connected to the rotating frame 10 on the front side, and the output shafts of the two second motors 11 on the rear side are connected to the rotating frame 10 on the rear side. The sensing mechanism is used to control the second motors 11 to drive the rotating frame 10 to rotate, so that the rotating frame 10 protects the drone 101 and the six-degree-of-freedom motion platform 2.

[0033] See Figure 4As shown, the moving mechanism includes a bidirectional screw rod 701, a first motor 702 and a right-angle commutator 703. Four bidirectional screw rods 701 are arranged on the platform of the six-degree-of-freedom motion platform 2 for rotation at intervals. The four bidirectional screw rods 701 are respectively distributed in front, back, left and right. The left side of the two horizontally distributed limit frames 6 is threadedly connected to the bidirectional screw rod 701 on the left side, the right side of the two horizontally distributed limit frames 6 is threadedly connected to the bidirectional screw rod 701 on the right side, the front side of the two longitudinally distributed limit frames 6 is threadedly connected to the bidirectional screw rod 701 on the front side, and the rear side of the two longitudinally distributed limit frames 6 is threadedly connected to the rear bidirectional screw rod 701. The two-way screw rod 701 is threadedly connected; a first motor 702 is installed on the left rear side of the six-degree-of-freedom motion platform 2, and the left end of the two-way screw rod 701 on the rear side is connected to the output shaft of the first motor 702; the right end of the two-way screw rod 701 on the rear side and the rear end of the two-way screw rod 701 on the right side are transmitted through a right-angle commutator 703, the front end of the two-way screw rod 701 on the right side and the right end of the two-way screw rod 701 on the front side are transmitted through a right-angle commutator 703, and the left end of the two-way screw rod 701 on the front side and the front end of the two-way screw rod 701 on the left side are transmitted through a right-angle commutator 703.

[0034] See Figure 4-Figure 6 As shown, the sensing mechanism includes a touch plate 801, a spring 802 and a touch switch 803; the touch plate 801 is slidably mounted on the limit frame 6, and the touch plate 801 is used to contact the drone 101; the spring 802 is connected between the touch plate 801 and the limit frame 6; the touch switch 803 is provided on the limit frame 6, and the touch switch 803 is located between the touch plate 801 and the limit frame 6, and the touch switch 803 is electrically connected to the second motor 11.

[0035] In the initial state, the drone 101 is parked at the top center of the electromagnet plate 5 (as shown in FIG. Figure 3 As shown), the electromagnetic plate 5 generates a magnetic force to attract the drone 101 after being energized, and the limit frame 6 uses the touch plate 801 to limit the drone 101. The touch plate 801 is squeezed by the drone 101, so that the spring 802 is in a compressed state, and the touch plate 801 continuously presses the touch switch 803; When in use, the hull 1 is placed on the sea. When the drone 101 needs to be used for monitoring, resource exploration, military reconnaissance and other tasks on the ocean, the controller 3 is remotely controlled to control the first motor 702 to drive the corresponding bidirectional screw rod 701 to rotate, and the remaining bidirectional screw rods 701 are driven to rotate together through the right-angle commutator 703, so that the bidirectional screw rod 701 drives the limit frame 6 to move to the side away from the drone 101. During this period, the spring 802 will gradually return to its original state, and the limit frame 6 will drive the touch switch 803 to move to the side away from the drone 101, so that the touch switch 803 gradually moves away from the touch plate 801. When the touch plate 801 releases the touch switch 803, the touch switch 803 will control the second motor 11 to drive the rotating frame 10 to rotate and open (such as Figure 8 As shown), the rotating frame 10 no longer blocks the drone 101 and the six-degree-of-freedom motion platform 2. When the spring 802 returns to its original state, the limit frame 6 drives the touch plate 801 to move away from the drone 101 through the spring 802, so that the touch plate 801 is separated from the drone 101, thereby releasing the limit frame 6 from using the touch plate 801 to limit the drone 101. Then, the controller 3 is remotely controlled to control the electromagnet plate 5 to cut off the power, so that the electromagnet plate 5 releases the drone 101, and then the drone 101 is remotely controlled to move in the six-degree-of-freedom motion. During takeoff from the platform 2, the inclination sensor 4 will continue to sense the inclination of the platform of the six-degree-of-freedom motion platform 2. When the inclination of the platform of the six-degree-of-freedom motion platform 2 reaches a preset value, the inclination sensor 4 will send a signal to the controller 3, which will control the six-degree-of-freedom motion platform 2 to automatically adjust so that the six-degree-of-freedom motion platform 2 can provide a balanced platform for the UAV 101 to take off. After the UAV 101 takes off, the UAV 101 can be remotely controlled to perform monitoring, resource exploration, military reconnaissance, etc. on the ocean; After the UAV 101 completes monitoring, resource exploration, military reconnaissance and other tasks on the ocean, the UAV 101 is remotely controlled to fly back to the six-degree-of-freedom motion platform 2 for landing. During this period, the six-degree-of-freedom motion platform 2 can provide a balanced platform for the UAV 101 to land through the induction of the inclination sensor 4. After the UAV 101 lands on the electromagnet plate 5 on the six-degree-of-freedom motion platform 2, the controller 3 is remotely controlled to control the electromagnet plate 5 to be energized, so that the electromagnet plate 5 attracts the UAV 101 for limiting. Then, the controller 3 is remotely controlled to control the first motor 702 to drive the corresponding bidirectional screw rod 701 to reverse and reset, and drive the remaining bidirectional screw rods 701 to reverse and reset together through the right-angle commutator 703, so that the bidirectional screw rod 701 drives the limit frame 6 and the touch switch 803 to move to the side close to the UAV 101, and at the same time, the limit frame 6 drives the touch plate 801 to move to the side close to the UAV 101 through the spring 802. When the touch plate 801 and the UAV 1 01, the touch panel 801 will push the drone 101 toward the center of the electromagnet plate 5 until the drone 101 is at the center of the electromagnet plate 5. At this time, the drone 101 is blocked by the touch panels 801 on the four sides and cannot move. The drone 101 will also block the touch panels 801 on the four sides to stop moving. Then, as the limit frame 6 and the touch switch 803 continue to move toward the side close to the drone 101, the spring 802 is compressed, and the elastic force of the spring 802 can be used to press the touch panel 801. Apply pressure so that the touch panel 801 limits the drone 101. When the touch switch 803 contacts the touch panel 801, the touch panel 801 presses the touch switch 803, causing the touch switch 803 to control the second motor 11 to drive the rotating frame 10 to reverse and close, thereby causing the rotating frame 10 to block the drone 101 and the six-degree-of-freedom motion platform 2, thereby sealing the drone 101 and the six-degree-of-freedom motion platform 2 to prevent the drone 101 and the six-degree-of-freedom motion platform 2 from being affected by splashing seawater around them.

[0036] See Figure 8 As shown, a sealing strip 12 is also included; the sealing strip 12 is provided on the rotating frame 10 , and the sealing strip 12 is used to seal between the two rotating frames 10 .

[0037] By providing the sealing strip 12 , the gap between the two rotating frames 10 can be sealed when the rotating frames 10 are closed, thereby improving the sealing between the rotating frames 10 , thereby further strengthening the protection of the drone 101 and the six-degree-of-freedom motion platform 2 .

[0038] See Figure 9 and Figure 10As shown, a cleaning mechanism is also included, which includes a liquid storage tank 13, a water pump 14, a spray pipe 15 and a hose 16; a liquid storage tank 13 is installed on the top of the hull 1, and the liquid storage tank 13 is located on the right side of the fixed frame 9; a water pump 14 is provided on the top of the liquid storage tank 13, the water pump 14 is electrically connected to the controller 3, and the water inlet of the water pump 14 is connected to the liquid storage tank 13; two spray pipes 15 are installed on the upper side of the rotating frame 10, and the spray pipes 15 are used to spray liquid to clean the drone 101; the water outlet of the water pump 14 is connected to the spray pipe 15 through the hose 16.

[0039] See Figure 11-14 As shown, it also includes a shielding mechanism, which includes a limit plate 17, an airbag 20, a baffle 21, a shield 2201 and a push plate 2202; a limit plate 17 is installed on the top of the platform of the six-degree-of-freedom motion platform 2, and the limit plate 17 is in the shape of a "mouth". The left front side, the right front side, the left rear side and the right rear side of the limit plate 17 are all provided with drainage grooves 18, and the drainage grooves 18 are used to discharge the liquid on the top of the electromagnet plate 5; four water delivery grooves 19 are provided at intervals on the top of the hull 1, and the four water delivery grooves 19 are used to drain the four drainage grooves 18 respectively. The liquid falling from the groove 18 is discharged from the hull 1; air bags 20 are provided on the four sides of the front, back, left and right sides of the bottom of the limit plate 17; a plurality of baffles 21 are provided on the side of the air bag 20 facing the electromagnet plate 5; a shield 2201 is provided on the limit frame 6, and the shield 2201 and the baffle 21 are both used to shield the bidirectional screw rod 701; a push plate 2202 is provided at the bottom of the shield 2201, and the push plate 2202 contacts part of the baffle 21, and the push plate 2202 squeezes the part of the baffle 21 toward the side away from the electromagnet plate 5.

[0040] By setting a cleaning mechanism and a shielding mechanism, when in use, an appropriate amount of cleaning liquid can be added to the liquid storage tank 13 in advance; when the limit frame 6 moves, the limit frame 6 will drive the shield plate 2201 and the push plate 2202 to move. During the movement of the push plate 2202, the push plate 2202 will squeeze the contacting baffle 21 to move to the side away from the electromagnet plate 5, so that the corresponding baffle 21 squeezes the airbag 20 to deform, and the corresponding baffle 21 does not affect the movement of the limit frame 6. At the same time, when the push plate 22 02 moves, the push plate 2202 will gradually separate from the baffle 21 it has contacted. When the push plate 2202 separates from the baffle 21, the airbag 20 will squeeze the corresponding baffle 21 to move to the side close to the electromagnet plate 5 to reset, so that the corresponding baffle 21 will block the bidirectional screw rod 701 again, and the shielding plate 2201 can cover the gap between the push plate 2202 and the baffle 21 to prevent the bidirectional screw rod 701 from being corroded by seawater or other liquid splashing, thereby extending the bidirectional screw rod 701. The service life of the screw rod 701 is extended; when the rotating frame 10 is used to close the drone 101 on the top of the electromagnetic plate 5, the controller 3 can be remotely controlled to control the controller 3 to control the water pump 14 to start, so that the water pump 14 draws the cleaning liquid in the liquid storage tank 13 into the hose 16 and the spray pipe 15, and then the spray pipe 15 sprays the cleaning liquid on the surface of the drone 101, thereby cleaning the surface of the drone 101 and washing away the seawater attached to the surface of the drone 101 to prevent the drone 101 from being splashed by seawater when working outside, thereby causing the surface of the drone 101 to be corroded by seawater. When the surface of the drone 101 is cleaned, the seawater on the surface of the drone 101 will be washed down by the cleaning liquid and fall on the top of the electromagnetic plate 5. Subsequently, the accumulated liquid on the electromagnetic plate 5 will flow into the water supply tank 19 through the drainage groove 18 and finally be discharged from the hull. After the surface of the drone 101 is cleaned, the controller 3 can be remotely controlled to control the water pump 14 to be turned off.

[0041] See Figure 15 As shown, a bellows 23 is also included. The bellows 23 is provided on the outside of the six-degree-of-freedom motion platform 2; the bellows 23 is used to protect the six-degree-of-freedom motion platform 2, the controller 3 and the inclination sensor 4.

[0042] By providing the bellows 23, the six-degree-of-freedom motion platform 2, the controller 3 and the inclination sensor 4 can be protected by the bellows 23 to prevent the six-degree-of-freedom motion platform 2, the controller 3 and the inclination sensor 4 from being corroded by splashing seawater or other liquids, thereby extending the service life of the six-degree-of-freedom motion platform 2, the controller 3 and the inclination sensor 4.

[0043] See Figure 15As shown, it also includes a power generation mechanism, which includes a support platform 24, a photovoltaic panel 25, a battery 26 and a wireless charging module 27; a support platform 24 is installed on the top of the hull 1, and the support platform 24 is located on the left side of the six-degree-of-freedom motion platform 2; a photovoltaic panel 25 is provided on the surface of the support platform 24; a battery 26 is also installed on the hull 1, and the battery 26 is located between the support platform 24 and the six-degree-of-freedom motion platform 2, and the photovoltaic panel 25 is used to convert solar energy into electrical energy and store it in the battery 26; a wireless charging module 27 is installed on the top of the electromagnet plate 5, and the wireless charging module 27 is electrically connected to the battery 26, and the wireless charging module 27 is used to provide the electrical energy in the battery 26 to the drone 101.

[0044] By setting up a power generation mechanism, the photovoltaic panel 25 can be used to convert solar energy into electrical energy and store it in the battery 26. Later, when the drone 101 is parked at the center of the top of the electromagnet plate 5, the electrical energy in the battery 26 can be provided to the drone 101 for use through the wireless charging module 27. In this way, the drone 101 can be conveniently charged.

[0045] The above is a detailed introduction to the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, based on the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An unmanned marine vessel with an automatic balancing take-off and landing platform, comprising a hull (1), characterized in that: A six-degree-of-freedom motion platform (2) is installed on the hull (1), a controller (3) is installed on the six-degree-of-freedom motion platform (2), an inclination sensor (4) is arranged on the platform of the six-degree-of-freedom motion platform (2), an electromagnet plate (5) is installed on the top of the platform of the six-degree-of-freedom motion platform (2), a limit frame (6) is also symmetrically slidably arranged on the platform of the six-degree-of-freedom motion platform (2), and a moving mechanism is installed on the platform of the six-degree-of-freedom motion platform (2), and the moving mechanism is used to drive the limit frame (6) to move so that the limit frame (6) The UAV (101) is limited. A sensing mechanism is installed on the limiting frame (6). A fixed frame (9) is provided on the hull (1). A rotating frame (10) is symmetrically rotated on the fixed frame (9). A second motor (11) is symmetrically installed on the fixed frame (9). The output shaft of the second motor (11) is connected to the rotating frame (10). The sensing mechanism is used to control the second motor (11) to drive the rotating frame (10) to rotate. The rotating frame (10) is used to protect the UAV (101) and the six-degree-of-freedom motion platform (2).

2. An unmanned marine vessel with an automatic balancing take-off and landing platform according to claim 1, characterized in that: The moving mechanism includes a bidirectional screw rod (701), a first motor (702) and a right-angle commutator (703). Four bidirectional screw rods (701) are arranged on the platform of the six-degree-of-freedom motion platform (2) for rotation at intervals. The limit frame (6) is threadedly connected to the bidirectional screw rod (701). The first motor (702) is installed on the platform of the six-degree-of-freedom motion platform (2). The end of one bidirectional screw rod (701) is connected to the output shaft of the first motor (702), and the ends of the remaining three bidirectional screw rods (701) are all transmitted to adjacent bidirectional screw rods (701) through the right-angle commutator (703).

3. An unmanned marine vessel with an automatic balancing take-off and landing platform according to claim 2, characterized in that: The sensing mechanism comprises a touch plate (801), a spring (802) and a touch switch (803); the touch plate (801) is slidably mounted on the limit frame (6); the touch plate (801) is used to contact the drone (101); a spring (802) is connected between the touch plate (801) and the limit frame (6); a touch switch (803) is provided on the limit frame (6); and the touch switch (803) is located between the touch plate (801) and the limit frame (6).

4. An unmanned marine vessel with an automatic balancing take-off and landing platform according to claim 3, characterized in that: A sealing strip (12) is also included. The rotating frame (10) is provided with the sealing strip (12). The sealing strip (12) is used to seal between the two rotating frames (10).

5. An unmanned marine vessel with an automatic balancing take-off and landing platform according to claim 4, characterized in that: The hull (1) is provided with a liquid storage tank (13), a water pump (14), a spraying pipe (15) and a hose (16). The liquid storage tank (13) is installed on the hull (1), and the water pump (14) is provided on the top of the liquid storage tank (13). The water inlet of the water pump (14) is connected to the liquid storage tank (13). The rotating frame (10) is provided with a spraying pipe (15). The spraying pipe (15) is used to spray liquid to clean the drone (101). The water outlet of the water pump (14) is connected to the spraying pipe (15) through the hose (16).

6. An unmanned marine vessel with an automatic balancing take-off and landing platform according to claim 5, characterized in that: The shielding mechanism includes a limit plate (17), an air bag (20), a baffle (21), a shield plate (2201) and a push plate (2202). The limit plate (17) is installed on the platform of the six-degree-of-freedom motion platform (2). A drainage groove (18) is provided on the limit plate (17). The drainage groove (18) is used to discharge liquid on the top of the electromagnet plate (5). A water delivery groove (19) is provided at intervals on the hull (1). The water delivery groove (19) is used to drain the liquid from the drainage groove (18). The fallen liquid is discharged from the hull (1). Four air bags (20) are arranged at intervals at the bottom of the limit plate (17). A baffle (21) is arranged on the side of the air bag (20) facing the electromagnet plate (5). A shield (2201) is arranged on the limit frame (6). The shield (2201) and the baffle (21) are both used to shield the bidirectional screw rod (701). A push plate (2202) is arranged at the bottom of the shield (2201). The push plate (2202) is used to push the baffle (21) open.

7. An unmanned marine vessel with an automatic balancing take-off and landing platform according to claim 6, characterized in that: The device further comprises a bellows (23), which is arranged on the outside of the six-degree-of-freedom motion platform (2). The bellows (23) is used to protect the six-degree-of-freedom motion platform (2), the controller (3), and the inclination sensor (4).

8. An unmanned marine vessel with an automatic balancing take-off and landing platform according to claim 7, characterized in that: The invention also includes a power generation mechanism, which includes a support platform (24), a photovoltaic panel (25), a battery (26) and a wireless charging module (27). The support platform (24) is installed on the hull (1), and the photovoltaic panel (25) is provided on the support platform (24). The battery (26) is also installed on the hull (1). The photovoltaic panel (25) is used to convert solar energy into electrical energy and store it in the battery (26). The wireless charging module (27) is installed on the top of the electromagnet plate (5). The wireless charging module (27) is used to provide the electrical energy in the battery (26) to the drone (101).

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