An offshore unmanned vessel with an automatically balancing landing platform

Abstract

The present application relates to unmanned ship technical field, especially unmanned ship with automatic balance landing platform on sea, including ship body, six degree of freedom motion platform is installed on the ship body, controller is installed on the six degree of freedom motion platform, inclination sensor is arranged on the platform of the six degree of freedom motion platform, electromagnet plate is installed on the top of the platform of the six degree of freedom motion platform, and limit frame is symmetrically and slidably arranged on the platform of the six degree of freedom motion platform.The present application can realize real-time sensing and adjusting platform posture through six degree of freedom motion platform, inclination sensor and controller, ensure that a relatively stable landing surface is provided for unmanned aerial vehicle under various sea conditions, which greatly reduces the risk of unmanned aerial vehicle in the process of landing, and the design of rotating frame can protect unmanned aerial vehicle when not in use, and protect six degree of freedom motion platform, avoid corrosion caused by sea water splashing, thereby prolong the service life of unmanned aerial vehicle and six degree of freedom motion platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned ships, and particularly relates to a sea unmanned ship with an automatic balance landing platform. BACKGROUND

[0002] With the development of science and technology, sea unmanned ships and unmanned aerial vehicles are increasingly widely used in the fields of marine monitoring, resource exploration, military reconnaissance, etc., especially in complex marine environments, the combination of unmanned aerial vehicles and unmanned ships can significantly improve the operation efficiency and safety; however, some problems existing in the prior art limit the effectiveness and durability of this combination, especially in the design of the unmanned aerial vehicle landing platform.

[0003] At present, the unmanned aerial vehicle landing platform carried by the sea unmanned ship mostly adopts a fixed design, and the unmanned aerial vehicle landing platform with the fixed design is difficult to provide a relatively stable landing surface for the unmanned aerial vehicle when the sea unmanned ship is affected by environmental factors such as sea waves and wind speed, which increases the difficulty and risk of landing of the unmanned aerial vehicle, and more importantly, the traditional landing platform lacks effective protection measures to resist harsh marine environments, and when the unmanned aerial vehicle lands on the unmanned ship after completing the task, the unmanned aerial vehicle and the landing platform are easily splashed by the surrounding seawater, and since the salt content in seawater is high, the unmanned aerial vehicle and the landing platform are easily corroded after being attached to seawater for a long time, which causes the metal material to gradually lose mechanical properties, resulting in a decrease in structural strength and seriously affecting the service life of the unmanned aerial vehicle and the landing platform. SUMMARY

[0004] Therefore, the present application provides a sea unmanned ship with an automatic balance landing platform, which can solve the problem that the unmanned aerial vehicle landing platform carried by the existing sea unmanned ship is difficult to provide a relatively stable landing surface for the unmanned aerial vehicle when affected by environmental factors such as sea waves and wind speed, and the unmanned aerial vehicle and the landing platform are easily splashed by the surrounding seawater, which seriously affects the service life of the unmanned aerial vehicle and the landing platform.

[0005] The technical scheme is as follows: an offshore unmanned ship with an automatic balance landing platform, comprising a ship body, a six-degree-of-freedom motion platform installed on the ship body, a controller installed on the six-degree-of-freedom motion platform, an inclination sensor arranged on the platform of the six-degree-of-freedom motion platform, an electromagnet plate installed on the top of the platform of the six-degree-of-freedom motion platform, a limiting frame symmetrically and slidably arranged on the platform of the six-degree-of-freedom motion platform, a moving mechanism installed on the platform of the six-degree-of-freedom motion platform, the moving mechanism being used to drive the limiting frame to move and limit the unmanned aerial vehicle, a sensing mechanism installed on the limiting frame, a fixed frame arranged on the ship body, a rotating frame symmetrically and rotatably arranged on the fixed frame, a second motor symmetrically installed on the fixed frame, an output shaft of the second motor being connected with the rotating frame, the sensing mechanism being used to control the second motor to drive the rotating frame to rotate, and the rotating frame being used to protect the unmanned aerial vehicle and the six-degree-of-freedom motion platform.

[0006] Further description, the moving mechanism comprises a bidirectional screw rod, a first motor and a right-angle commutator, four bidirectional screw rods are rotatably arranged on the platform of the six-degree-of-freedom motion platform at intervals, the limiting frame is threadedly connected with the bidirectional screw rods, the first motor is installed on the platform of the six-degree-of-freedom motion platform, one end of one of the bidirectional screw rods is connected with an output shaft of the first motor, and the other three ends of the bidirectional screw rods are all connected with adjacent bidirectional screw rods through the right-angle commutator. Further description, the sensing mechanism comprises a touch plate, a spring and a touch switch, the touch plate is slidably installed on the limiting frame, the touch plate is used to contact the unmanned aerial vehicle, the spring is connected between the touch plate and the limiting frame, and the touch switch is arranged on the limiting frame and located between the touch plate and the limiting frame.

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

[0008] Further description, further comprising a cleaning mechanism, the cleaning mechanism comprises a liquid storage tank, a water pump, a spraying pipe and a hose, the liquid storage tank is installed on the ship body, the water pump is arranged on the top of the liquid storage tank, a water inlet of the water pump is communicated with the liquid storage tank, the spraying pipe is installed on the rotating frame and used to spray liquid to clean the unmanned aerial vehicle, and a water outlet of the water pump is communicated with the spraying pipe through the hose.

[0009] Further description, further comprising a shielding mechanism, the shielding mechanism comprises a limiting plate, an air bag, a baffle, a shielding plate and a push plate, the limiting plate is installed on the platform of the six-degree-of-freedom motion platform, a drainage groove is formed in the limiting plate and used to drain liquid on the top of the electromagnet plate, water conveying grooves are formed on the ship body at intervals and used to drain the liquid falling from the drainage groove, four air bags are arranged on the bottom of the limiting plate at intervals, baffles are arranged on the side of each air bag facing the electromagnet plate, the shielding plate is arranged on the limiting frame and used to shield the bidirectional screw rods, and the push plate is arranged on the bottom of the shielding plate and used to push the baffle.

[0010] Further, the corrugated pipe is arranged on the outer side of the six-degree-of-freedom motion platform, and the corrugated pipe is used for protecting the six-degree-of-freedom motion platform, the controller and the inclination sensor.

[0011] Further, the power generation mechanism comprises a support table, a photovoltaic panel, a storage battery and a wireless charging module, the support table is installed on the ship body, the photovoltaic panel is arranged on the support table, the storage battery is also installed on the ship body, the photovoltaic panel is used for converting solar energy into electric energy and storing the electric energy in the storage battery, the wireless charging module is installed on the top of the electromagnet plate, and the wireless charging module is used for providing the electric energy in the storage battery to the unmanned aerial vehicle.

[0012] The six-degree-of-freedom motion platform is used for providing a relatively stable landing surface for the unmanned aerial vehicle in various sea conditions, and the risk of the unmanned aerial vehicle in the landing process is greatly reduced.

[0013] 2. The cleaning mechanism is arranged, so that the unmanned aerial vehicle can be automatically cleaned after completing a task each time, and the salt and other pollutants that may be attached can be removed in time, thereby further prolonging the service life of the unmanned aerial vehicle and components thereof.

[0014] 3. The corrugated pipe, the shielding mechanism and the like are designed to effectively prevent seawater and other adverse marine environmental factors from corroding the key components (such as the six-degree-of-freedom motion platform, the controller and the inclination sensor), and help to prolong the working life of these important parts. DETAILED DESCRIPTION

[0015] Figure 1 It is a perspective structural schematic view of the present application.

[0016] Figure 2 It is a perspective structural schematic view of the ship body, the six-degree-of-freedom motion platform and the controller.

[0017] Figure 3 It is a perspective structural schematic view of the inclination sensor, the electromagnet plate and the limiting frame.

[0018] Figure 4 It is a perspective structural schematic view of the moving mechanism.

[0019] Figure 5 It is an enlarged view of A in the present application. Figure 4

[0020] Figure 6 ​Enlarged view of B in the application. Figure 4

[0021] Figure 7 Perspective view of the fixed frame, rotating frame and second motor of the application.

[0022] Figure 8 Perspective view of the application after the rotating frame is opened.

[0023] Figure 9 Perspective view of the fixed frame, liquid storage tank and water delivery groove of the application.

[0024] Figure 10 Perspective view of the cleaning mechanism of the application.

[0025] Figure 11 Perspective view of the limiting frame, limiting plate and drainage groove of the application.

[0026] Figure 12 Structure separation view of the limiting plate and air bag of the application.

[0027] Figure 13 Perspective view of the limiting frame, baffle and shutter of the application.

[0028] Figure 14 Perspective view of the limiting frame, shutter and push plate of the application.

[0029] Figure 15 Perspective view of the bellows and power generation mechanism of the application.

[0030] Markings in the drawings: 1: hull, 101: unmanned aerial vehicle, 2: six-degree-of-freedom motion platform, 3: controller, 4: inclination sensor, 5: electromagnet plate, 6: limiting frame, 701: bidirectional screw rod, 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: spraying pipe, 16: hose, 17: limiting plate, 18: drainage groove, 19: water delivery groove, 20: air bag, 21: baffle, 2201: shutter, 2202: push plate, 23: bellows, 24: support table, 25: photovoltaic panel, 26: battery, 27: wireless charging module. DETAILED DESCRIPTION

[0031] ​The present application will now be described more fully hereinafter with reference to the accompanying drawings, in which currently preferred embodiments of the application are shown. The application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of thorough and complete disclosure of the application and are fully contemplated so as to convey the scope of the application to those skilled in the art.

[0032] Embodiment: A sea unmanned ship with an automatic balance landing platform, referring to Figures 1-8 As shown, it comprises a ship body 1, a six-degree-of-freedom motion platform 2, a controller 3, an inclination sensor 4, an electromagnet plate 5, a limiting frame 6, a moving mechanism, a sensing mechanism, a fixed frame 9, a rotating frame 10 and a second motor 11; the six-degree-of-freedom motion platform 2 is installed on the top of the ship body 1; the 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 with the controller 3; the inclination sensor 4 is arranged on the platform of the six-degree-of-freedom motion platform 2, and the inclination sensor 4 is electrically connected with the controller 3; the inclination of the platform of the six-degree-of-freedom motion platform 2 is sensed by the inclination sensor 4, and when the inclination of the platform of the six-degree-of-freedom motion platform 2 reaches a preset value, the inclination sensor 4 sends a signal to the controller 3, and the controller 3 controls 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 unmanned aerial vehicle 101 takes off and lands; the electromagnet plate 5 is installed on the top of the platform of the six-degree-of-freedom motion platform 2, and the electromagnet plate 5 is electrically connected with the controller 3; the electromagnet plate 5 is used for adsorbing the unmanned aerial vehicle 101, so as to stabilize the unmanned aerial vehicle 101; four limiting 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 vertically distributed; the moving mechanism is installed on the platform of the six-degree-of-freedom motion platform 2, and is used for driving the limiting frame 6 to move, so that the limiting frame 6 limits the unmanned aerial vehicle 101, so that the unmanned aerial vehicle 101 stays at the top center position of the electromagnet plate 5; the sensing mechanism is installed on the limiting frame 6; the fixed frame 9 is arranged on the top of the ship body 1, the six-degree-of-freedom motion platform 2 is located on the inner side of the fixed frame 9, the rotating frame 10 is rotationally arranged on the upper side of the fixed frame 9, the four second motors 11 are symmetrically installed on the side of the fixed frame 9, the second motor 11 is electrically connected with the controller 3, the output shafts of the front two second motors 11 are connected with the front rotating frame 10, the output shafts of the rear two second motors 11 are connected with the rear rotating frame 10, and the sensing mechanism is used for controlling the second motor 11 to drive the rotating frame 10 to rotate, so that the rotating frame 10 protects the unmanned aerial vehicle 101 and the six-degree-of-freedom motion platform 2.

[0033] Referring to Figure 4As shown, the moving mechanism includes a bidirectional lead screw 701, a first motor 702, and a right-angle commutator 703. Four bidirectional lead screws 701 are rotatably arranged on the platform of the six-degree-of-freedom motion platform 2, distributed in a front-back, left-right, and right-side configuration. The left side of the two laterally distributed limit frames 6 is threaded to the left-side bidirectional lead screw 701, and the right side of the two laterally distributed limit frames 6 is threaded to the right-side bidirectional lead screw 701. The front side of the two longitudinally distributed limit frames 6 is threaded to the front-side bidirectional lead screw 701, and the rear side of the two longitudinally distributed limit frames 6 is threaded to the rear-side bidirectional lead screw 703. The lead screw 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 rear bidirectional lead screw 701 is connected to the output shaft of the first motor 702; the right end of the rear bidirectional lead screw 701 is driven to the rear end of the right bidirectional lead screw 701 through a right-angle commutator 703, the front end of the right bidirectional lead screw 701 is driven to the right end of the front bidirectional lead screw 701 through a right-angle commutator 703, and the left end of the front bidirectional lead screw 701 is driven to the front end of the left bidirectional lead screw 701 through a right-angle commutator 703.

[0034] See Figures 4-6 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 its initial state, the drone 101 is positioned at the center of the top of the electromagnet plate 5 (e.g., Figure 3 As shown), the electromagnet plate 5 generates 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. Moreover, 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.

[0036] In use, the hull 1 is placed at sea. When the UAV 101 is needed for monitoring, resource exploration, military reconnaissance, etc., on the ocean, the remote control controller 3 controls the first motor 702 to drive the corresponding bidirectional lead screw 701 to rotate. The right-angle commutator 703 then drives the remaining bidirectional lead screws 701 to rotate together, causing the bidirectional lead screws 701 to move the limit frame 6 away from the UAV 101. During this process, the spring 802 gradually returns to its original state, and the limit frame 6 moves the touch switch 803 away from the UAV 101, gradually moving the touch switch 803 away from the touch plate 801. When the touch plate 801 releases the touch switch 803, the touch switch 803 controls the second motor 11 to drive the rotating frame 10 to rotate and open (e.g., Figure 8 As shown), the rotating frame 10 no longer obstructs the drone 101 and the six-degree-of-freedom motion platform 2. When the spring 802 returns to its original state, the limiting frame 6 will move the touch plate 801 away from the drone 101 via the spring 802, separating the touch plate 801 from the drone 101. This releases the limiting frame 6 from the drone 101 using the touch plate 801. Then, the remote control controller 3 will de-energize the electromagnet plate 5, causing the electromagnet plate 5 to release the drone 101. Finally, the drone 101 can be remotely controlled to move in six degrees of freedom. Takeoff takes off from platform 2. During this time, tilt sensor 4 continuously senses the tilt of the six-degree-of-freedom motion platform 2. When the tilt of the six-degree-of-freedom motion platform 2 reaches a preset value, tilt sensor 4 sends a signal to controller 3. Controller 3 then controls the six-degree-of-freedom motion platform 2 to automatically adjust so that it can provide a balanced platform for UAV 101 to take off. After UAV 101 takes off, it can be remotely controlled to perform tasks such as monitoring, resource exploration, and military reconnaissance on the ocean.

[0037] After the UAV 101 completes its monitoring, resource exploration, and military reconnaissance tasks on the ocean, it is remotely controlled to fly back to the six-degree-of-freedom motion platform 2 for landing. During this process, the tilt sensor 4 ensures that the six-degree-of-freedom motion platform 2 provides a balanced platform for the UAV 101 to land. Once the UAV 101 lands on the electromagnet plate 5 on the six-degree-of-freedom motion platform 2, the remote control controller 3 energizes the electromagnet plate 5, causing it to attract and limit the UAV 101. Then, the remote control controller 3 controls the first motor 702 to drive the corresponding bidirectional lead screw 701 to reverse and reset. The right-angle commutator 703 also drives the remaining bidirectional lead screws 701 to reverse and reset, causing the bidirectional lead screws 701 to move the limit frame 6 and the touch switch 803 closer to the UAV 101. Simultaneously, the limit frame 6, via the spring 802, moves the touch plate 801 closer to the UAV 101. When the touch plate 801 touches the UAV 101... Upon contact, the touch panel 801 pushes the drone 101 towards the center of the electromagnet plate 5 until the drone 101 is at the center of the electromagnet plate 5. At this point, the drone 101 is blocked by the touch panels 801 on all four sides and cannot move. The drone 101 also blocks the touch panels 801 on all four sides from moving. Then, as the limit bracket 6 and the touch switch 803 continue to move closer to the drone 101, the spring 802 is compressed. The elastic force of the spring 802 can then move the touch panel 801. Pressure is applied to limit the movement of the drone 101 by the touch panel 801. 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. This causes 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 them from being affected by the splashing of surrounding seawater.

[0038] See Figure 8 As shown, it also includes a sealing strip 12; the rotating frame 10 is provided with a sealing strip 12, which is used to seal between the two rotating frames 10.

[0039] By setting a sealing strip 12, the gap between the two rotating frames 10 can be sealed when the rotating frame 10 is closed, thereby improving the sealing performance between the rotating frames 10 and further strengthening the protection of the UAV 101 and the six-degree-of-freedom motion platform 2.

[0040] See Figure 9 and Figure 10As shown in the figure, it further includes a cleaning mechanism, which includes a liquid storage tank 13, a water pump 14, a spraying 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 to the right of the fixed frame 9; a water pump 14 is arranged on the top of the liquid storage tank 13, and 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 spraying pipes 15 are installed on the upper side inside the rotating frame 10, and the spraying pipes 15 are 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 a hose 16.

[0041] See Figures 11-14 As shown in the figure, it further includes a shielding mechanism, which includes a limiting plate 17, an airbag 20, a baffle plate 21, a shielding plate 2201 and a pushing plate 2202; a limiting plate 17 is installed on the top of the platform of the six-degree-of-freedom motion platform 2, and the limiting plate 17 is in the shape of a "mouth", and drainage grooves 18 are opened on the left front side, right front side, left rear side and right rear side of the limiting plate 17, and the drainage grooves 18 are used to discharge the liquid on the top of the electromagnetic iron plate 5; four water delivery grooves 19 are spaced apart on the top of the hull 1, and the four water delivery grooves 19 are respectively used to discharge the liquid falling from the four drainage grooves 18 from the hull 1; airbags 20 are arranged on the front, rear, left and right sides of the bottom of the limiting plate 17; multiple baffle plates 21 are arranged on the side of each airbag 20 facing the electromagnetic iron plate 5; a shielding plate 2201 is arranged on the limiting frame 6, and both the shielding plate 2201 and the baffle plate 21 are used to shield the bidirectional screw rod 701; a pushing plate 2202 is arranged at the bottom of the shielding plate 2201, and the pushing plate 2202 contacts with some of the baffle plates 21, and the pushing plate 2202 squeezes the part of the baffle plates 21 to the side away from the electromagnetic iron plate 5.

[0042] By setting up a cleaning mechanism and a shielding mechanism, an appropriate amount of cleaning fluid can be pre-added to the storage tank 13 during use. When the limiting frame 6 moves, the limiting frame 6 will drive the shielding 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 away from the electromagnet plate 5, causing the corresponding baffle 21 to deform the airbag 20 and ensuring that the corresponding baffle 21 does not affect the movement of the limiting frame 6. At the same time, the push plate 2202... During movement, the push plate 2202 gradually separates from the baffle 21 it has contacted. When the push plate 2202 separates from the baffle 21, the airbag 20 squeezes the corresponding baffle 21 to move and reset closer to the electromagnet plate 5. This causes the corresponding baffle 21 to block the bidirectional lead screw 701 again. Furthermore, the baffle 2201 covers the gap between the push plate 2202 and the baffle 21, preventing the bidirectional lead screw 701 from being corroded by seawater or other liquid splashes, thereby extending its lifespan. The service life of the lead screw 701; after the drone 101 on top of the electromagnet plate 5 is sealed by the rotating frame 10, the controller 3 can be remotely controlled to turn on the water pump 14, so that the water pump 14 draws the cleaning fluid in the storage tank 13 into the hose 16 and the spray pipe 15, and then the spray pipe 15 sprays the cleaning fluid on the surface of the drone 101 to clean the surface of the drone 101 and wash away the seawater attached to the surface of the drone 101, so as to prevent the surface of the drone 101 from being splashed by seawater when it goes out to work, which would cause 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 off the top of the electromagnet plate 5 by the cleaning fluid. Then, the liquid accumulated on the electromagnet plate 5 will flow into the water supply tank 19 through the drainage channel 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 turn off the water pump 14.

[0043] See Figure 15 As shown, it also includes a bellows 23, which 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 tilt sensor 4.

[0044] By setting up the bellows 23, the six-degree-of-freedom motion platform 2, controller 3 and tilt sensor 4 can be protected, preventing them from being corroded by seawater or other liquids, thereby extending their service life.

[0045] See Figure 15As shown, it also includes a power generation mechanism, which includes a support platform 24, a photovoltaic panel 25, a storage battery 26, and a wireless charging module 27. The support platform 24 is installed on the top of the hull 1 and is located to the left of the six-degree-of-freedom motion platform 2. The photovoltaic panel 25 is installed on the surface of the support platform 24. The storage battery 26 is also installed on the hull 1 and is located between the support platform 24 and the six-degree-of-freedom motion platform 2. The photovoltaic panel 25 is used to convert solar energy into electrical energy and store it in the storage battery 26. The wireless charging module 27 is installed on the top of the electromagnet plate 5 and is electrically connected to the storage battery 26. The wireless charging module 27 is used to provide the electrical energy in the storage battery 26 to the drone 101.

[0046] By setting up a power generation mechanism, solar energy can be converted into electrical energy by photovoltaic panel 25 and stored in battery 26. Then, when drone 101 is parked at the top center of electromagnet plate 5, the electrical energy in battery 26 can be supplied to drone 101 for use by wireless charging module 27, thus making it convenient to charge drone 101.

[0047] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present application. Therefore, the content of this specification should not be construed as a limitation of the present application.

Claims

1. A marine unmanned 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 angle sensor (4) is installed 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 installed on the platform of the six-degree-of-freedom motion platform (2). A moving mechanism is installed on the platform of the six-degree-of-freedom motion platform (2). The moving mechanism is used to drive the limit frame (6) to move, so that the limit frame (6) moves. The drone (101) is limited. A sensing mechanism is installed on the limiting frame (6). A fixed frame (9) is set 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 drone (101) and the six-degree-of-freedom motion platform (2). The moving mechanism includes a bidirectional lead screw (701), a first motor (702), and a right-angle commutator (703). Four bidirectional lead screws (701) are rotatably arranged on the platform of the six-degree-of-freedom motion platform (2). The limit frame (6) is threadedly connected to the bidirectional lead screws (701). The first motor (702) is installed on the platform of the six-degree-of-freedom motion platform (2). The end of one of the bidirectional lead screws (701) is connected to the output shaft of the first motor (702). The ends of the remaining three bidirectional lead screws (701) are all driven by the right-angle commutator (703) to the adjacent bidirectional lead screws (701). 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). 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). The touch switch (803) is located between the touch plate (801) and the limit frame (6). It also includes a cleaning mechanism, which includes a liquid storage tank (13), a water pump (14), a spray pipe (15) and a hose (16). The liquid storage tank (13) is installed on the hull (1), and a water pump (14) is installed on the top of the liquid storage tank (13). The inlet of the water pump (14) is connected to the liquid storage tank (13). A spray pipe (15) is installed on the rotating frame (10). The spray pipe (15) is used to spray liquid to clean the drone (101). The outlet of the water pump (14) is connected to the spray pipe (15) through the hose (16). 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). The limit plate (17) is installed on the platform of the six-degree-of-freedom motion platform (2). A drainage channel (18) is provided on the limit plate (17). The drainage channel (18) is used to drain the liquid from the top of the electromagnet plate (5). Water delivery channels (19) are provided at intervals on the hull (1). The water delivery channels (19) are used to drain the liquid from the drainage channels (18). The liquid that falls is discharged from the hull (1). Four airbags (20) are spaced apart at the bottom of the limiting plate (17). Each airbag (20) has a baffle (21) on the side facing the electromagnet plate (5). A cover plate (2201) is provided on the limiting frame (6). Both the cover plate (2201) and the baffle (21) are used to cover the bidirectional lead screw (701). A push plate (2202) is provided at the bottom of the cover plate (2201). The push plate (2202) is used to push the baffle (21) open.

2. A marine unmanned vessel with an automatic balancing take-off and landing platform according to claim 1, characterized in that, It also includes a sealing strip (12), which is provided on the rotating frame (10) and is used to seal between the two rotating frames (10).

3. A marine unmanned vessel with an automatic balancing take-off and landing platform according to claim 2, characterized in that, It also includes a bellows (23). A 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 tilt sensor (4).

4. A marine unmanned vessel with an automatic balancing take-off and landing platform according to claim 3, characterized in that, It also includes a power generation mechanism, which includes a support platform (24), a photovoltaic panel (25), a storage battery (26) and a wireless charging module (27). The support platform (24) is installed on the hull (1), and the photovoltaic panel (25) is installed on the support platform (24). The storage 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 storage battery (26). The top of the electromagnet plate (5) is equipped with a wireless charging module (27), which is used to provide the electrical energy in the storage battery (26) to the drone (101).

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