Offshore platform unmanned aerial vehicle landing and charging guarantee integrated system and control method thereof

Abstract

The application provides an offshore platform unmanned aerial vehicle landing and charging guarantee integrated system and a control method thereof, relates to the technical field of unmanned aerial vehicle guarantee auxiliary equipment, and the system comprises a bearing base, a folding protective cover, a magnetic attraction supply assembly, a battery replacement mechanical arm, an environment sensing module and a logic control unit. In the landing stage, the safety landing time window of the platform in the amplitude trough is predicted according to vibration and wind shear parameters; the windward surface and the leeward surface cover body are controlled to be in an asymmetric opening and closing posture in the window, a downward stable flow field is formed above the base to guide landing; after the protective cover is closed to form a closed space, the internal real-time dew point temperature is obtained and a bias heating current is input to the magnetic attraction supply assembly, the pulse duty cycle is adjusted according to the dew point temperature to maintain the local heat power in the anti-condensation interval, and the mechanical arm is driven to move after the risk is reduced. The application effectively alleviates the interference of the complex marine environment, improves the stability of the unmanned aerial vehicle landing and the safety of the automatic operation.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) support equipment technology, and in particular to an integrated system for UAV take-off, landing and charging support on offshore platforms and its control method. Background Technology

[0002] In existing technologies, unmanned aerial vehicles (UAVs) play a fundamental supporting role in the material handling and routine inspections of offshore oil platforms. To meet the routine mission execution needs of these aircraft, offshore operating areas are typically equipped with take-off and landing bases and supporting power supply facilities. Conventional UAV auxiliary docking equipment can provide basic loitering and support functions in relatively mild weather conditions and structurally stable land-based operating environments.

[0003] The objective physical environment in which offshore oil platforms operate involves numerous variable external parameters. Under the combined influence of wave surging loads and continuous high-altitude gusts, the platform's main steel structure experiences a complex spatial dynamic response of low-frequency swaying and localized high-frequency flutter, causing the bearing surfaces to be in continuous dynamic displacement. Simultaneously, open sea surfaces are often accompanied by wind fields with pronounced shear characteristics. During the final stage of the UAV's return landing procedure, the fuselage needs to simultaneously cope with irregular aerodynamic disturbances from the airflow and the mechanical swaying of the target support surface. This dynamic, compound interference can easily cause deviations from the landing trajectory, increasing the difficulty of controlling a smooth landing.

[0004] The marine atmosphere is generally filled with high concentrations of salt spray aerosols, and the relative humidity around the platform exhibits regular fluctuations, a characteristic of the objective climate. After the UAV lands and the parking facilities are closed, the internal components, carrying residual operating heat, cause localized temperature gradient changes within the confined space. Under these alternating hot and humid conditions, the localized cooling process can easily saturate the surrounding air with moisture, leading to phase changes and the precipitation of condensate droplets on the surfaces of metal structural components and electrical interfaces such as power supply contacts. The salty moisture adhering to conductive parts objectively weakens the insulation resistance of the devices and provides a free ionic medium for electrochemical reactions, which is detrimental to the subsequent automated battery swapping operation of the robotic arm and the long-term stable operation of the system. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated system and control method for the take-off, landing and charging support of unmanned aerial vehicles (UAVs) on a marine platform, in order to solve the technical problems that mechanical swaying and wind shear in the complex marine environment can easily cause the UAV landing trajectory to deviate, and that alternating temperature and humidity inside the equipment can easily cause moisture to seep out of the electrical interface of the parking cabin, thus affecting the safety of power interaction operations.

[0006] In a first aspect, the present invention provides an integrated system for the take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform, comprising:

[0007] Support base;

[0008] A foldable protective cover is provided around the periphery of the supporting base;

[0009] The magnetic supply assembly and the battery swapping robotic arm are mounted on the support base;

[0010] Environmental perception module;

[0011] The logic control unit is connected to the support base, the folding protective cover, the magnetic supply component, the battery swapping robotic arm, and the environmental sensing module, respectively.

[0012] The logic control unit is configured to perform the following steps:

[0013] During the drone landing phase, based on the vibration and wind shear parameters obtained by the environmental perception module, the safe docking time window for the offshore oil platform when it is in the trough of the amplitude wave can be predicted.

[0014] Within the safe docking time window, the windward and leeward face shields of the folding protective cover are controlled to open and close in an asymmetrical manner to form a downward stable flow field above the support base and guide the UAV to land.

[0015] After the folded protective cover is closed to form a sealed space, the real-time dew point temperature inside the sealed space is obtained.

[0016] A bias heating current is input to the magnetic charging component to heat it up. The pulse duty cycle is adjusted according to the real-time dew point temperature to keep the local heat power within the anti-condensation range above the real-time dew point temperature. After the risk of condensation is determined to be eliminated, the battery swapping robotic arm is driven to perform the action.

[0017] Optionally, an automatic leveling mechanism is connected to the bottom of the support base. The automatic leveling mechanism includes multiple sets of attitude compensation hydraulic cylinders. The logic control unit drives the attitude compensation hydraulic cylinders to extend and retract according to the tilt attitude data of the offshore oil platform output by the environmental perception module, so as to maintain the support base in a horizontal state.

[0018] Optionally, the inner side of the folding protective cover is integrated with a rainwater collection and discharge component. The rainwater collection and discharge component includes a guide channel and a salt spray filter drain valve. The guide channel guides the accumulated water to the salt spray filter drain valve to discharge it to the external environment according to the closed state of the folding protective cover.

[0019] The surface of the magnetic supply component is coated with a polysulfide anti-corrosion sealant layer.

[0020] Optionally, the UAV power assembly is equipped with a salt spray protection sealing structure, which is composed of a double sealing isolation component, a breathable air pressure balance film and a replaceable desiccant module to block the intrusion of high salt spray moisture.

[0021] Optionally, the step of predicting the safe docking time window for an offshore oil platform when it is in an amplitude trough includes:

[0022] Extract the low-frequency wave swaying component and the high-frequency wind flutter component from the vibration parameters;

[0023] The low-frequency wave swaying component and the high-frequency wind flutter component are superimposed and mapped in reverse to calculate the composite vibration attenuation node.

[0024] The smooth time interval between adjacent composite vibration attenuation nodes is extracted as the safe stopping time window.

[0025] Optionally, the step of controlling the windward and leeward face shields of the folding protective cover to open and close asymmetrically to form a downward-pressure stable flow field above the support base includes:

[0026] Calculate the obstruction angle of the windward face shield and the guide angle of the leeward face shield based on the wind shear parameters;

[0027] The windward face shield is controlled to expand to the obstruction angle, and the leeward face shield is simultaneously controlled to expand to the guide angle, so that the obstruction angle is greater than the guide angle. The air velocity is increased by using the asymmetric aerodynamic cross section, thereby generating the downward stable flow field in the region above the support base.

[0028] In the process of controlling the deployment of the cover, when the algebraic difference between the calculated flow obstruction angle and the flow guide angle is less than 30 degrees, a compensation value is assigned so that the algebraic difference is maintained at an absolute value of 30 degrees or above, so as to ensure the formation of the asymmetric aerodynamic section contraction rate required to maintain the downpressure stable flow field.

[0029] Optionally, the step of obtaining the real-time dew point temperature inside the enclosed space includes:

[0030] Collect the current air temperature and relative humidity values ​​inside the enclosed space;

[0031] Thermodynamic calculations are performed on the current air temperature and the current relative humidity using empirical formulas for phase change to obtain the critical temperature of phase change at which water vapor reaches saturation.

[0032] The real-time dew point temperature is obtained by superimposing the phase change critical temperature with the corrosion protection safety margin.

[0033] The steps of calculating the obstruction angle of the windward face shield and the guide angle of the leeward face shield based on the wind shear parameters include:

[0034] The three-dimensional airflow velocity physical vector is converted into scalar horizontal wind speed and wind direction deflection angle values ​​in a horizontal two-dimensional reference plane.

[0035] A 90-degree fan-shaped area is formed by extending 45 degrees to both sides of the center line with the wind direction deflection angle as the center line. The panel whose geometric center normal vector falls into the fan-shaped area is defined as the windward mask body. Based on the azimuth relationship, the opposite panel in the downstream wake area is defined as the leeward mask body.

[0036] The pre-defined hydrodynamic and aerodynamic parameter mapping matrix table is invoked, with the scalar horizontal wind speed value as the input variable, and the target parameters are calculated using a linear interpolation algorithm; wherein:

[0037] When the scalar horizontal wind speed value is in the range of 3m / s to 8m / s, the target parameter of the obstruction elevation angle is made to be linearly proportional to the scalar horizontal wind speed value and limited to between 45 degrees and 60 degrees, while the target parameter of the guide opening angle is kept constant at 15 degrees.

[0038] When the scalar horizontal wind speed value is within the range of greater than 8 m / s and less than or equal to 15 m / s, the target parameter of the obstruction elevation angle is locked to the upper limit of the spatial geometric elevation angle of 60 degrees, and the target parameter of the guide opening angle is simultaneously made to have an inverse linear mapping with the scalar horizontal wind speed value and limited to between 5 degrees and 15 degrees.

[0039] Optionally, the step of adjusting the pulse duty cycle based on the real-time dew point temperature includes:

[0040] Compare the surface temperature at the power receiving contact of the magnetic charging component with the real-time dew point temperature;

[0041] If the difference between the surface temperature and the real-time dew point temperature is less than the set first temperature threshold, then the pulse duty cycle is increased to increase the heat generation.

[0042] If the difference is greater than the set second temperature threshold, the pulse duty cycle is reduced to reduce heat generation and save energy.

[0043] The corrosion safety margin is used to correct the spatial thermal conduction gradient error between the installation coordinate position of the temperature and humidity digital sensor probe assembly and the power receiving contact of the magnetic supply assembly.

[0044] The corrosion protection safety margin is determined based on the extracted absolute value of the extreme steady-state spatial thermal conduction temperature difference superimposed with the inherent tolerance of the full-range measurement drift of the digital sensor.

[0045] Optionally, the logic control unit is further configured to:

[0046] After the magnetic charging component heats up and continues for a preset period of time, the folding protective cover is controlled to open the drainage gap at a set opening degree.

[0047] The positive pressure airflow generated by the expansion of hot air is used to discharge the water vapor carrying salt inside through the venting gap. After the venting is completed, the folding protective cover is locked.

[0048] The bias heating current is input to the magnetic charging assembly by applying an AC / DC signal that deviates downward from the reference resonant transmission frequency to the internal electromagnetic induction metal coil. This reduces the efficiency of induced energy transmission and increases Joule heat loss within the coil.

[0049] When reducing the pulse duty cycle, the system utilizes the thermal inertia of the material itself to reduce power transmission while smoothly maintaining the surface temperature at or above the control threshold.

[0050] Secondly, the present invention provides a control method for an integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform, applicable to the integrated system for take-off, landing, and charging support of unmanned aerial vehicles on a marine platform as described in any of the first aspects, comprising the following control steps:

[0051] During the drone's landing phase, based on the vibration and wind shear parameters obtained by the environmental perception module, the safe docking time window for the offshore oil platform when it is at the trough of the amplitude wave can be predicted.

[0052] Within the safe docking time window, the windward and leeward face shields of the folding protective cover are controlled to open and close in an asymmetrical manner to form a downward stable flow field above the support base and guide the UAV to land.

[0053] After the folded protective cover is closed to form a sealed space, the real-time dew point temperature inside the sealed space is obtained;

[0054] A bias heating current is input to the magnetic charging component to heat it up. The pulse duty cycle is adjusted according to the real-time dew point temperature to keep the local heat power within the anti-condensation range above the real-time dew point temperature. After the risk of condensation is determined to be eliminated, the battery swapping robotic arm is driven to perform the action.

[0055] The present invention has achieved the following beneficial effects:

[0056] This invention acquires minute vibration and wind shear parameters through an environmental sensing module, predicts the safe docking time window when the platform amplitude is at a trough, and actively constructs a downward-pressure stable flow field by controlling the folded protective cover to unfold asymmetrically during this calm period. The physical guidance of airflow energy mitigates the combined interference of alternating ocean wind fields and mechanical swaying on the landing trajectory, improving the stability of the UAV when it contacts the support base. After the system is locked into a sealed space, a bias heating current is applied to the magnetic charging component based on the real-time dew point temperature calculated from internal temperature and humidity feedback. The pulse duty cycle is dynamically adjusted to maintain the heat power on the contact surface within an anti-condensation range above the dew point temperature, suppressing water vapor phase change precipitation under high-humidity salt spray conditions from a physical thermodynamic perspective. This combination of mechanical guidance and thermal feedback closed-loop protection mechanism maintains the electrical insulation performance of the core power supply interface, reduces the risk of component corrosion caused by saline water, ensures the continuous execution of the battery swapping robotic arm's electrical energy interaction actions, and improves the adaptability and operational reliability of the integrated support system under harsh marine conditions.

[0057] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0058] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0059] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0060] Figure 1 This is a hardware module structure diagram of the integrated system for take-off, landing and charging support of unmanned aerial vehicles on a marine platform, as described in this embodiment of the invention.

[0061] Figure 2 This is the main flowchart of the integrated system control method for take-off, landing and charging support of unmanned aerial vehicles on a marine platform in this embodiment of the invention;

[0062] Figure 3 This is a flowchart illustrating the steps for predicting a safe docking time window in an embodiment of the present invention.

[0063] Figure 4 This is a flowchart illustrating the steps involved in controlling the formation of a downward-pressured stable flow field within the cover in an embodiment of the present invention.

[0064] Figure 5 This is a flowchart illustrating the steps for obtaining the real-time dew point temperature inside a confined space in an embodiment of the present invention.

[0065] Figure 6 This is a flowchart illustrating the steps of adjusting the pulse duty cycle based on real-time dew point temperature in an embodiment of the present invention. Detailed Implementation

[0066] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0067] This application provides an integrated system and control method for the take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on offshore platforms. This system is used to handle UAV take-off and landing guidance, physical protection, power supply, and equipment status control operations in complex marine environments. The environment of offshore oil platforms is characterized by high-salinity aerosols, fluctuating relative humidity, and shear-characteristic wind fields. These physical conditions objectively affect the flight attitude, mechanical stability, and insulation performance of electronic components of the UAV. Therefore, the hardware architecture and control logic provided in this application aim to maintain various physical indicators within set safety constraints by decoupling environmental parameters and applying feedback control.

[0068] Specifically, such as Figure 1 As shown in the figure, the hardware configuration of the integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform disclosed in this application includes: a support base; a folding protective cover disposed around the periphery of the support base; a magnetic supply assembly and a battery-swapping robotic arm disposed on the support base; an environmental perception module; and a logic control unit. The logic control unit is connected to the support base, the folding protective cover, the magnetic supply assembly, the battery-swapping robotic arm, and the environmental perception module, respectively.

[0069] The bearing base, serving as a physical assembly platform and bearing both static and dynamic loads, internally comprises a support structure frame made of corrosion-resistant alloy profiles and a flat landing panel on top. The bearing base is configured as the installation reference surface for various hardware modules of the system. Furthermore, an automatic leveling mechanism is connected to the bottom of the bearing base, comprising multiple sets of attitude compensation hydraulic cylinders. The logic control unit is configured to drive the attitude compensation hydraulic cylinders to extend and retract based on the tilt attitude data of the offshore oil platform output by the environmental sensing module, thereby maintaining the bearing base in a horizontal state.

[0070] It is understood that the environmental sensing module is fixedly mounted at the flange node connecting the bottom of the support base to the offshore oil platform truss. The environmental sensing module's internal circuit board integrates a tilt sensor and an inertial measurement unit. The tilt sensor continuously acquires objective data on roll and pitch angles in the current Earth's gravity reference coordinate system at a set discrete sampling frequency. The analog-to-digital converter circuit built into the environmental sensing module filters and digitizes the acquired analog voltage or current signals, converting them into digital format tilt attitude data of the offshore oil platform. This data message follows a set controller area network communication protocol and is reliably transmitted to the logic control unit via a communication bus composed of differential signal harnesses.

[0071] The multiple sets of attitude compensation hydraulic cylinders are uniformly distributed in a polygonal array in the bottom support area of ​​the bearing base. The bases of each attitude compensation hydraulic cylinder are securely connected to the offshore oil platform truss via universal ball joints, and the top of the internal hydraulic piston rod is hinged to the corresponding load-bearing node at the bottom of the bearing base via a cylindrical pin. The logic control unit is equipped with a central processing chip and a memory. After acquiring the tilt attitude data of the offshore oil platform, the processor chip calls the spatial inverse kinematics transformation matrix module stored in the memory. The processor chip uses the resolved roll and pitch angle parameters as input variables for matrix operations, establishes an orthogonal three-dimensional coordinate system with the geometric center of gravity of the bearing base as the reference origin, and performs algebraic multiplication and addition operations. The matrix operation uses this inverse kinematics formula to calculate the target length of each hydraulic cylinder. : The formula involves local coordinate vectors. Fixed coordinate vector With the calculated target length All use a uniform unit of length (such as millimeter or meter). To be based on roll angle and pitch angle Constructed composite rotation matrix, For the first Local coordinate vector of the connection point between the hydraulic cylinder and the bearing base. This is the fixed coordinate vector of the hydraulic cylinder base in the platform reference frame. The target length is then determined. The difference between the length of the hydraulic cylinder and the initial length of the hydraulic cylinder yields the required vertical spatial displacement compensation parameters for each node. The calculation results output the vertical spatial displacement compensation parameters corresponding to each of the attitude compensation hydraulic cylinder support nodes, which are required to restore the three-dimensional normal vector of the landing panel on top of the bearing base to be parallel to the direction of gravity.

[0072] Subsequently, the logic control unit converts the vertical spatial displacement compensation parameters corresponding to each node into control signals with specific pulse widths, and outputs them through the drive interface circuit to the electro-hydraulic proportional servo valves that control each group of attitude compensation hydraulic cylinders. The electromagnetic coil inside the electro-hydraulic proportional servo valve generates an electromagnetic attraction force of corresponding strength based on the received control signal current, adjusting the linear displacement opening of the mechanical valve core within the valve body. The change in valve core opening limits the volumetric flow rate and velocity of high-pressure hydraulic oil from the hydraulic pump station flowing into and out of the rodless and rod chambers of the hydraulic cylinders. The physical injection and discharge of volumetric flow rate directly translates into the differential extension or shortening displacement of the hydraulic piston rods of each attitude compensation hydraulic cylinder. To ensure the closed-loop accuracy of position control, each group of attitude compensation hydraulic cylinders has a built-in linear displacement sensor. The linear displacement sensor collects the actual physical extension and shortening displacement of the hydraulic piston rod in real time and transmits it as feedback to the logic control unit. The logic control unit internally runs a proportional-integral-derivative control algorithm, calculates the error value by subtracting the target vertical spatial displacement compensation parameter from the actual extension and shortening displacement feedback, and adjusts the subsequent output control signals based on this error value. Through this position feedback control network, the system continuously compensates for the platform tilt caused by wave and ocean current loads, maintaining the bearing base in a horizontal state within the set allowable error range.

[0073] Furthermore, the folding protective cover, located on the edge region above the supporting base, is composed of multiple rigid sector panels that can independently rotate around a bottom rotation axis. Each panel can unfold or fold under the control of a drive motor. A rainwater collection and discharge assembly is integrated on the inner surface of the folding protective cover, comprising a guide channel and a salt spray filter drain valve. The guide channel directs accumulated water to the salt spray filter drain valve for discharge to the external environment, depending on the closed state of the folding protective cover. The surface of the magnetic replenishment assembly is coated with a polysulfide anti-corrosion sealant layer.

[0074] Specifically, the guide channels are formed at the support edges of the bottom inner surface of each rigid sector panel using a die-stamping or integral die-casting process. When each panel receives a closing command, converges towards the center point, and reaches the mechanically locked position, the guide channel segments at the bottom edges of each panel are connected end-to-end in spatial physical structure, forming a ring-shaped water collection channel with an overall downward gradient. Droplets adhering to the inner walls of each panel overcome the adhesion force of the material surface under the influence of Earth's gravity, sliding down the wall and entering the guide channels. Guided by the preset bottom inclination angle of this ring-shaped water collection channel, the collected water flows smoothly along the channel to the discharge port located at the lowest elevation. The salt spray filter exhaust valve is connected to this discharge port via threads or flanges.

[0075] The salt spray filter drain valve employs a mechanical, one-way fluid control structure without external power supply. Its internal flow channel contains a one-way check diaphragm and a hydrophobic microporous composite filter media layer. The one-way check diaphragm is subjected to a physical thrust of a predetermined direction and magnitude by a pre-tensioning spring, ensuring it is pressed tightly against the sealing surface inside the valve body under normal conditions, maintaining the mechanically locked state of the flow channel. As internal water continuously converges into the drain valve, the height of the fluid column above the drain port gradually increases, and according to the liquid pressure formula, the hydrostatic pressure at the bottom of the valve rises accordingly. When the physical thrust generated by the hydrostatic pressure of the fluid on the surface of the one-way check diaphragm exceeds the reaction force threshold set by the preload spring, the reaction force threshold is derived from the product of the bottom hydrostatic pressure generated at a preset safe water level (10 mm to 15 mm) and the cross-sectional area of ​​the one-way check diaphragm under force, specifically ranging from 0.05 N to 0.08 N. The one-way check diaphragm undergoes physical deformation under force, detaches from the sealing surface, and the internal water is discharged to the external platform grille or marine environment through the open gap. When the internal water is drained and the liquid column height decreases, resulting in a reduction in hydrostatic pressure, the preload spring releases the compressed elastic potential energy, driving the one-way check diaphragm to reset and re-adhere to the sealing surface to complete system locking. At the end of the fluid discharge pipeline outlet of the drain valve, the hydrophobic microporous composite filter layer is fixed. The material is made of a polymer that has undergone a stretching process. Its microporous structure utilizes the surface tension properties of fluids to prevent suspended droplets and aerosols carrying salt from the external environment from penetrating into the protected space inside the folded protective shield along the pipeline.

[0076] Furthermore, the magnetic charging assembly is positioned in the central area of ​​the support base and is configured as a hardware interface for performing high-current power exchange tasks with the UAV. Internally, it includes an induction coil, a magnetic core, and metal conductive terminals. The exposed surface of the magnetic charging assembly is coated with the polysulfide anti-corrosion sealant layer. This polysulfide anti-corrosion sealant layer is made by mixing a base liquid polymer resin and a special curing agent at a predetermined physical mass ratio (specifically, 10:1), and then applying the mixture to the outer shell seams and exposed metal parts of the non-contact conductive surfaces of the magnetic charging assembly. The mixed two-component coating undergoes a cross-linking polymerization chemical reaction at ambient temperature, curing to form a polymeric elastic coating with a three-dimensional network structure. This polymeric elastic coating acts as a physical barrier to prevent the penetration of external water vapor and oxygen. By reducing the permeability of these gas molecules, it limits the ion mass transfer conditions necessary for electrochemical corrosion reactions on the metal surface, thereby maintaining the insulation impedance and structural strength of the internal conductive circuit.

[0077] Furthermore, for the execution end equipment involved in the operation, the UAV power component is equipped with a salt spray protection sealing structure. The salt spray protection sealing structure is composed of a double sealing isolation component, a breathable air pressure balance film and a replaceable desiccant module, which is used to block the intrusion of high salt spray moisture.

[0078] Specifically, the UAV power assembly mainly consists of a brushless motor and an electronic speed controller that controls and drives the motor. The dual-seal isolation component is located at the assembly joint between the rotating spindle of the brushless motor and the external stationary stator metal flange. The dual-seal isolation component includes a labyrinthine dynamic water-blocking ring and a contact-type sealing ring. The outer surface of the labyrinthine dynamic water-blocking ring is machined with an interlaced tortuous flow channel structure, which increases the flow resistance and local physical friction resistance along the path when external airflow carries salt spray into the motor by changing the flow direction and cross-sectional area of ​​the intruding fluid. The inner contact-type sealing ring is made of elastic polymer material and utilizes the interference fit with the rotating shaft to generate extrusion deformation, establishing a direct hydrostatic barrier interface on the rotating contact surface.

[0079] A pressure relief through-hole connecting the inner and outer cavities is provided at a predetermined installation position on the outer shell of the UAV power component. The breathable pressure balancing membrane is fixedly attached to the pressure relief through-hole by hot melting or adhesive bonding. The breathable pressure balancing membrane is a microporous polymer membrane prepared by a multi-directional stretching process. The micropore size distribution of this membrane is larger than the mean free path of specific gas molecules (such as nitrogen and oxygen), allowing bidirectional physical penetration of air molecules between the cavity and the external environment. This balances the static pressure difference between the inner and outer gases caused by the alternating temperature of the motor cavity in real time, preventing the failure of other static sealing structures due to excessive pressure difference. At the same time, the pore size of this micropore is much smaller than the physical volume of macroscopic suspended water droplets and solid salt particles in the marine environment. Combined with the low surface free energy of the material itself, the surface tension of the liquid physically traps liquid water and solid salt particles on the outside of the membrane.

[0080] Additionally, a replaceable desiccant module is fixedly installed inside the sealed metal cavity of the electronic speed controller included in the UAV power assembly. The replaceable desiccant module encapsulates silica gel or modified chemical particles with physical moisture-absorbing properties. This module utilizes the porous capillary physical adsorption phenomenon on its surface to actively capture and bind gaseous water molecules that permeate into the cavity during minute-level internal and external gas exchange, thereby reducing the actual moisture content inside the cavity.

[0081] Based on the aforementioned hardware physical structures and connections, the control method for the integrated system of take-off, landing, and charging support for unmanned aerial vehicles (UAVs) on a maritime platform disclosed in this application is applied to the aforementioned integrated system of take-off, landing, and charging support for UAVs on a maritime platform. Related data processing, logical judgment, and control signal generation are all executed and scheduled by the logic control unit calling code files stored in the internal solid-state storage medium. For example... Figure 2 As shown, the control method includes the following steps in sequence:

[0082] Step S1: During the UAV landing phase, based on the vibration parameters and wind shear parameters obtained by the environmental perception module, predict the safe docking time window when the offshore oil platform is in the trough of the amplitude wave.

[0083] Specifically, such as Figure 3 As shown, the step of predicting the safe docking time window of the offshore oil platform at the amplitude trough includes: extracting the low-frequency wave sway component and the high-frequency wind flutter component from the vibration parameters; performing reverse superposition mapping of the low-frequency wave sway component and the high-frequency wind flutter component to calculate the composite vibration attenuation node; and extracting the smooth period between adjacent composite vibration attenuation nodes as the safe docking time window.

[0084] It is understandable that the overall macroscopic physical vibration response of an offshore oil platform is a superposition of the low-frequency overall swaying component generated by wave surging and the high-frequency component of mechanical flutter excited by high-altitude gusts on local steel structures. During the UAV's flight path approaching the bearing base, the three-axis accelerometer in the environmental perception module outputs a three-dimensional acceleration raw data sequence characterizing the time-domain physical characteristics at a set continuous discrete sampling frequency, specifically set to 100Hz. This value is established based on the Nyquist sampling theorem and the principle that it needs to cover at least twice the high-frequency characteristics of the environment (upper limit 15Hz). This data sequence is acquired by the acquisition channel and labeled as the vibration parameters. After reading the vibration parameter data packet, the logic control unit distributes it to two independent finite-length unit impulse response digital filter links configured in the digital signal processing module for frequency domain processing. The order of the FIR digital filters is uniformly configured as 64th order, and their internal coefficient matrices are all generated using the Hamming Window function.

[0085] The passband frequency coefficient matrix of the primary digital filter link is set to cover the empirically calibrated wave physical excitation frequency band. Specifically, the physical boundaries of the passband of the wave physical excitation frequency band are configured as follows: the lower cutoff frequency is set to 0.05 Hz, and the upper cutoff frequency is set to 0.5 Hz. This passband cutoff interval is dedicated to extracting the low-frequency macroscopic displacement characteristic signals induced by the action of ocean surface gravity waves and long-period swells on the supporting structure of the bearing base. The filter filters out structural noise and high-frequency signals outside the passband through discrete convolution operations, outputting a time-domain discrete data sequence reflecting the overall slow tilting and drift characteristics of the platform. This output sequence is latched and used as the low-frequency wave sway component. The passband frequency coefficient matrix of the secondary digital filter link is set to map the inherent resonant frequency band of the platform's steel components excited by wind loads. Specifically, the physical boundaries of the passband of the inherent resonant frequency band are configured as follows: the lower cutoff frequency is set to 2.0 Hz, and the upper cutoff frequency is set to 15.0 Hz. This frequency band is dedicated to extracting the mechanical high-frequency flutter response characteristic signal excited by the alternating aerodynamic load applied to the local truss by high-altitude gusts, and isolating the low-frequency wave sway component at the physical frequency domain level. The filter removes the low-frequency drift signal component and outputs a high-frequency discrete data sequence reflecting the alternating fluctuations of the local component surface under force. This output sequence is latched and used as the high-frequency wind flutter component.

[0086] After decoupling the physical components in different frequency domains, the logic control unit microprocessor performs discrete-time transformation operations on the low-frequency wave sway component array and the high-frequency wind tremor component array under a unified clock reference. Specifically, the discrete-time transformation is the Discrete Hilbert Transform. By solving for the magnitude of the transformed complex analytic signal, the system calculates the envelope characteristic parameters that filter out the high-frequency phase, generating low-frequency amplitude envelope arrays and high-frequency amplitude envelope arrays specifically used to characterize the transient energy level of physical oscillations.

[0087] After generating the envelope array, the logic control unit executes a threshold comparison procedure. The microprocessor uses a comparison algorithm to locate, in real-time, continuous data intervals in the low-frequency amplitude envelope array where the overall values ​​are within a set first-level safety threshold; these intervals represent periods of low wave excitation kinetic energy. Simultaneously, it locates continuous data intervals in the high-frequency amplitude envelope array where the values ​​are within a set second-level safety threshold; these intervals represent periods of weak local gust disturbances.

[0088] Specifically, the determination method for the primary safety threshold and the secondary safety threshold is configured as follows: Extract the background vibration acceleration dataset of the bearing base under a reference stable sea state. The specific criteria for determining the reference stable sea state are: the real-time monitored sea surface wave height is less than 0.5 meters, and the standard deviation of the triaxial raw acceleration data output by the environmental perception module is less than 0.02g for 60 consecutive seconds. When the above conditions are met, the system automatically starts the background dataset extraction program. Calculate the root mean square amplitude of the low-frequency wave sway component and the root mean square amplitude of the high-frequency wind flutter component under this reference state; calibrate the constant value within the range of 1.2 to 1.5 times the root mean square amplitude of the low-frequency wave sway component as the primary safety threshold; calibrate the constant value within the range of 1.5 to 2.0 times the root mean square amplitude of the high-frequency wind flutter component as the secondary safety threshold. The process of comparing the two independent amplitude envelopes executed by the microprocessor with the corresponding safety thresholds, extracting valid Boolean logic sequences below the corresponding thresholds, and performing a bitwise AND operation on the two sequences to extract the overlapping segments of the time axis constitutes the logical judgment condition for the reverse superposition mapping of the low-frequency wave swaying component and the high-frequency wind tremor component.

[0089] The logic control unit performs a comparison operation by retrieving the timestamp indices attached to two types of data intervals that meet the conditions. When two independent amplitude envelopes are detected to be simultaneously below the corresponding threshold, and their data intervals have a completely overlapping physical duration on the time axis, the system determines that the platform's main macroscopic physical kinetic energy and local microscopic physical kinetic energy are both in a relatively stable low-level state during this period. The logic control unit assigns a time stamp to the center time node of this overlapping data intersection and stores it as the composite vibration attenuation node in the internal register queue.

[0090] The logic control unit continuously stores multiple sequentially generated composite vibration attenuation nodes and calls a timing difference calculation subroutine. This subroutine performs a subtraction operation on the time attributes of two consecutive composite vibration attenuation nodes in the register queue to obtain the actual time difference parameter between them. The logic control unit compares this actual time difference parameter with a pre-set operation reference time parameter (this parameter is set based on the mechanical running time required for the UAV to perform terminal vertical descent and landing gear bottoming-out locking). When the calculated actual time difference parameter is greater than the operation reference time parameter, the logic control unit determines that the time span between these two consecutive nodes meets the safe dwell time constraint. The system extracts this compliant smooth period as the safe docking time window and sends the boundary command of this period to the UAV through the communication module, guiding it to enter the final control logic for descent contact.

[0091] It is understood that the specific physical value range of the aforementioned operation reference time parameter is defined as between 8 and 12 seconds; the specific steps for extracting the parameter value are as follows: statistically analyze the historical operation verification dataset of the UAV system from the time it receives the descent cut-in command to the time when the bottom landing gear mechanical self-locking mechanism feeds back the physical closing level signal, and perform an arithmetic average calculation on the action time sequence in the dataset to obtain the lower limit of the time span necessary for the safe landing and stay of the aircraft.

[0092] Step S2: Within the safe docking time window, control the windward and leeward face shields of the folding protective cover to open and close in an asymmetrical manner, so as to form a downward stable flow field above the support base and guide the UAV to land.

[0093] Specifically, such as Figure 4 As shown, the step of controlling the windward and leeward face shields of the folding protective cover to open and close in an asymmetrical manner to form a downward-pressure stable flow field above the support base includes: calculating the obstruction angle of the windward face shield and the guide angle of the leeward face shield based on the wind shear parameters; controlling the windward face shield to unfold to the obstruction angle, and simultaneously controlling the leeward face shield to unfold to the guide angle, so that the obstruction angle is greater than the guide angle, using the asymmetrical aerodynamic cross section to increase the air velocity, thereby generating the downward-pressure stable flow field in the region above the support base.

[0094] Understandably, the logic control unit receives the three-dimensional air velocity physical vector output by the ultrasonic anemometer arranged inside the environmental sensing module via a serial data interface. The microprocessor performs a geometric coordinate projection transformation, converting the three-dimensional physical vector into a scalar horizontal wind speed value in a horizontal two-dimensional reference plane and a wind direction deflection angle value relative to the reference coordinate system. These two values ​​are collectively referred to as the wind shear parameters. Based on the extracted wind direction deflection angle value, the logic control unit performs a direction search and comparison in the array distribution coordinates of each physical sector panel of the folded protective cover established in the system configuration file. The system calibrates and classifies panels whose spatial normal azimuth falls within the angular envelope of the incoming mainstream wind field as the windward mask body; the angular envelope of the incoming mainstream wind field is specifically configured as a 90-degree fan-shaped area extending 45 degrees to both sides with the currently acquired wind direction deflection angle as the center line. All sector panels whose geometric center normal vector falls within this fan-shaped area are marked as windward mask bodies, and the remaining panels outside this area are uniformly marked as leeward mask bodies. Simultaneously, based on the azimuth relationship, the relative panel calibration in the downstream wake region is classified as the leeward mask body.

[0095] After classifying and defining each panel, the logic control unit accesses a pre-stored hydrodynamic and aerodynamic parameter mapping matrix table in non-volatile memory. This mapping matrix table establishes a corresponding matching relationship between horizontal scalar wind speed and specific panel opening angles. The logic control unit takes the currently calculated scalar horizontal wind speed value as the input variable and calls a lookup table and linear interpolation algorithm to calculate the target parameters of the obstruction elevation angle and the guide opening angle corresponding to the current wind field environment. Explicit conditional constraint statements are applied to the code execution logic of the calculation algorithm to ensure that the calculated output value of the obstruction elevation angle is continuously greater than the guide opening angle value.

[0096] Specifically, the fluid dynamics and aerodynamic parameter mapping matrix table is configured with the correspondence between the discrete reference nodes and the linear interpolation: the effective control calculation range of the scalar horizontal wind speed is set to 3 m / s to 15 m / s. When the calculated scalar horizontal wind speed value is within the range of 3 m / s to 8 m / s, the target parameter of the obstruction elevation angle is mapped in a direct proportional linear relationship with the wind speed, and its output physical range is limited to between 45 degrees and 60 degrees. Simultaneously, the target parameter of the guide angle is fixed at a constant 15 degrees. When the calculated scalar horizontal wind speed value is greater than 8 m / s and less than or equal to 15 m / s, the target parameter of the obstruction elevation angle is locked by the hardware actuator to the upper limit of the spatial geometric elevation angle of 60 degrees. Simultaneously, the target parameter of the guide angle is mapped inversely proportionally with the wind speed, and its output physical range is limited to between 5 degrees and 15 degrees. The aforementioned explicit conditional constraint statement is specifically configured as follows: within any discrete sampling period, the microprocessor subtracts the target parameter of the flow obstruction elevation angle obtained from the table from the target parameter of the flow guiding opening angle. When the algebraic difference between the two is less than 30 degrees, a compensation assignment is made to maintain the algebraic difference at an absolute value of 30 degrees or above, so as to ensure that the asymmetric aerodynamic section contraction rate required to maintain a stable downward flow field is formed in the space directly above the bearing base.

[0097] Subsequently, the logic control unit generates a closed-loop drive waveform sequence containing the target angle position code through the control interface and distributes it to the servo motor driver mechanically connected to the bottom rotating shaft of each panel. Under servo control, the windward mask rotates and rises around the axis, and is positioned and locked at the obstruction elevation angle position. In this specific posture, the windward mask presents a high-elevation obstruction solid shape, forcing the horizontal side airflow coming from the front to be blocked by the solid wall, generating an upward deflection velocity component. Simultaneously, the leeward mask rotates and unfolds under the control of the driver, and is positioned and locked at the guide opening angle position. Due to the small angle value setting, the leeward mask presents a semi-open physical shape with a relatively gentle tilt angle.

[0098] Because the front of the windward face shield is towering while the rear of the leeward face shield is low-lying, the aforementioned asymmetrical physical geometry constrains the external free airflow field. When the external flow field crosses this physical device, the flow channel through which the airflow passes forms a shape in three-dimensional space where the front cross-sectional area is contracted into a smaller internal cross-section. Based on the theoretical relationship of fluid incompressibility, when gas is forced to flow through the physically contracted region with a reduced cross-sectional area, the macroscopic velocity vector magnitude of the fluid passively increases. The jump in local air kinetic energy is accompanied by a decrease in the value of fluid static pressure. This physical transformation directly results in the generation of a flow field region with an actual gas static pressure lower than the surrounding standard atmospheric pressure in the area directly above the landing surface of the bearing base and surrounded by the protective shield. This region is defined as the downpressure stable flow field.

[0099] When the landing drone is within the stable, downward-pressure flow field, the upper surface of the fuselage is subjected to the positive pressure of the undisturbed external atmosphere, while the bottom of the fuselage, due to its low static pressure environment, experiences a difference in static pressure distribution between the upper and lower surfaces. This difference in distribution, integrated along the vertical axis, forms a downward aerodynamic drag component. This component counteracts the displacement force generated by the rotor wash on the bearing panel surface, guiding the drone's vertical descent trajectory and ensuring its contact with the bearing base.

[0100] Step S3: After the folded protective cover is closed to form a sealed space, the real-time dew point temperature inside the sealed space is obtained.

[0101] Specifically, such as Figure 5 As shown, the step of obtaining the real-time dew point temperature inside the sealed space includes: collecting the current air temperature value and the current relative humidity value inside the sealed space; performing thermodynamic calculations on the current air temperature value and the current relative humidity value using the phase change empirical formula to obtain the phase change critical temperature at which water vapor reaches saturation; and adding the phase change critical temperature to the corrosion protection safety margin to obtain the real-time dew point temperature.

[0102] Understandably, after the drone lands and all sectors of the folded protective shield are mechanically locked together by motor drive, the system's interior transitions from an open, flowing physical state to a physically enclosed space with constrained environmental boundaries. Within this enclosed space, the heat-dissipating drone power components and electronic modules create a temperature gradient in the environment. Affected by internal temperature changes, the humidity level within the space fluctuates. A temperature and humidity digital sensor assembly, installed on the internal structure of the support base, encapsulates a silicon semiconductor temperature sensing element and a capacitive humidity sensing chip. This sensor assembly collects environmental parameters at a set sampling period and converts them into a digital signal stream. The logic control unit reads this signal stream via a digital bus, filters out high-frequency environmental noise using a filtering algorithm, and extracts the current air temperature value (representing physical temperature) and the current relative humidity value (representing relative water vapor content).

[0103] After acquiring the basic input parameters of environmental variables, the logic control unit retrieves a discretized arithmetic program based on the phase transition law from the processor. The processor performs floating-point operations, substituting the current air temperature value into the saturated vapor pressure calculation function to calculate the physical value of the capacity for maintaining the gaseous state of water molecules under the current temperature constraint. Subsequently, the processor multiplies the acquired current relative humidity value with the calculated physical value to obtain the actual water vapor partial pressure parameter inside the sealed space. Next, the logic control unit performs the inverse solution of the function for this actual water vapor partial pressure parameter to calculate the temperature value corresponding to the water vapor reaching the saturated phase transition state at the current partial pressure level. The value obtained from this inverse solution is the critical phase transition temperature. The critical phase transition temperature characterizes the physical boundary at which water molecules in the mixed gas begin to aggregate and precipitate into liquid water droplets at the cooling interface.

[0104] Specifically, the internal execution code of the phase transition empirical formula and the corresponding inverse solution algorithm follows the Magnus engineering thermodynamic model: In order to match the physical properties of the constants 17.62 and 243.12, the current air temperature value input to the algorithm is conventionally expressed in degrees Celsius (°C), and the units of the calculated physical value of the containment (saturated vapor pressure) and the actual water vapor partial pressure parameter are hectopascals (hPa); the microprocessor first calculates the product of the current air temperature value and the constant 17.62, and divides the product by the algebraic sum of the current air temperature value and the constant 243.12 to obtain the exponential variable parameter; then, the result of the power of the result with the natural constant e as the base and the exponential variable parameter as the exponent is multiplied by the constant 6.112, and the gaseous saturated water vapor pressure under the corresponding temperature constraint is output and assigned to the physical value of the containment. Furthermore, the reverse calculation steps of the microprocessor for the actual water vapor partial pressure parameter are as follows: divide the actual water vapor partial pressure parameter by a constant 6.112 and extract its natural logarithm to output the logarithmic intermediate variable; then multiply the constant 243.12 with the logarithmic intermediate variable, and divide the product by the algebraic difference between the constant 17.62 and the logarithmic intermediate variable. Finally, the quotient obtained is directly used as the phase transition critical temperature.

[0105] To correct for the spatial thermal conduction gradient error that objectively exists between the installation coordinates of the temperature and humidity digital sensing probe assembly and the electrically receiving contacts of the protected magnetic supply assembly, the logic control unit incorporates a pre-set positive bias temperature value based on the calculated critical phase transition temperature. This positive bias temperature value serves as a corrosion protection safety margin, used to cover the physical mass transfer differences between the measurement location and the actual controlled point.

[0106] Furthermore, the parameter range of the corrosion protection safety margin is fixed within a constant range of 1.5 degrees Celsius to 3.0 degrees Celsius. Specifically, it is obtained as follows: Under the static verification conditions at the factory of the integrated system, the absolute value of the ultimate steady-state spatial thermal conduction temperature difference between the mounting flange reference surface where the silicon semiconductor temperature sensing element inside the temperature and humidity digital sensor probe assembly is located and the surface of the power receiving contact of the magnetic supply assembly is extracted; this absolute value of temperature difference is directly superimposed with the inherent tolerance of 0.5 degrees Celsius for the full-range measurement drift of the digital sensor to obtain the calculation result, and this calculation result is fixedly written into a non-volatile memory as an invariant corrosion protection safety margin parameter.

[0107] The phase transition critical temperature is superimposed with the corrosion protection safety margin, and the final temperature data output is used by the logic control unit as the real-time dew point temperature for subsequent environmental control decisions.

[0108] Step S4: Input a bias heating current into the magnetic charging component to heat up the magnetic charging component, and adjust the pulse duty cycle according to the real-time dew point temperature to keep the local heat power within the anti-condensation range above the real-time dew point temperature. After determining that the risk of condensation has been eliminated, drive the battery swapping robotic arm to perform the action.

[0109] Specifically, such as Figure 6 As shown, the step of adjusting the pulse duty cycle based on the real-time dew point temperature includes: comparing the surface temperature at the power receiving contact of the magnetic charging component with the real-time dew point temperature; if the difference between the surface temperature and the real-time dew point temperature is less than a set first temperature threshold, then increasing the pulse duty cycle to increase heat generation; if the difference is greater than a set second temperature threshold, then decreasing the pulse duty cycle to reduce heat generation and save energy.

[0110] It is understood that the anti-condensation execution logic of this application reuses the electromagnetic induction metal coil inside the magnetic charging component as a heat source. The logic control unit sends a command to the power electronic power conversion circuit to control it to apply an AC / DC signal deviating from the resonant transmission frequency to the induction coil. The reference resonant transmission frequency of the magnetic charging component is calibrated to 100kHz. The specific strategy of the deviation is to shift the output frequency downward by 15% to 20% (i.e., down-frequency to 80kHz to 85kHz) to reduce the efficiency of induced energy transmission and increase the Joule heat loss inside the coil, forming the bias heating current. When this current flows through the metal coil, it generates a Joule thermodynamic effect, causing the physical body of the magnetic charging component to start heating up. A high-precision thermistor sensor is attached to the contact surface area of ​​the power receiving contact of the magnetic charging component. The logic control unit continuously reads the signal variation parameters generated by temperature changes, and after software mapping calibration, obtains the surface temperature characterizing the current physical thermodynamic state of the area.

[0111] During the execution cycle of the digital control algorithm, the logic control unit compares the real-time read surface temperature with the calculated and updated real-time dew point temperature to obtain an error variable parameter. If the error variable parameter generated by the comparison shows that the surface temperature value is decreasing and the difference with the real-time dew point temperature value is gradually narrowing, that is, the surface temperature is approaching the real-time dew point temperature, this indicates that there is an objective risk that water vapor on the surface of the power contact will reach saturation and condense. The control algorithm responds and generates an output command to increase the digital pulse width modulation waveform, that is, to increase the pulse duty cycle. According to the increased pulse duty cycle, the power electronic power conversion circuit increases the effective output current injected into the coil of the magnetic charging component through the power switching element. The increase in the effective value of the input current causes a proportional increase in the heating power. The heat conduction increases the actual temperature of the contact, thereby increasing the evaporation escape kinetic energy of surface water molecules and disrupting the cold condensation conditions.

[0112] Conversely, if the error variable parameters generated by the comparison show that the surface temperature value is rising and the difference between it and the real-time dew point temperature is increasing, that is, the surface temperature is moving away from the real-time dew point temperature. Since continuous temperature accumulation affects the properties of the potting material, the control algorithm outputs a control word that reduces the digital pulse width modulation waveform parameters, i.e., reduces the pulse duty cycle. The power electronic power conversion circuit reduces the conduction time, lowering the effective output current injected into the conductive coil. The system utilizes the inherent thermal inertia of the material to reduce power delivery while smoothly maintaining the surface temperature above the control threshold. This closed-loop control circuit locks the physical heat power of the component surface within the anti-condensation range above the phase change node.

[0113] Specifically, the process of adjusting the pulse duty cycle described above is executed through underlying discrete incremental arithmetic logic: In this embodiment, the first temperature threshold is specifically calibrated to 1.5 degrees Celsius, and the second temperature threshold is specifically calibrated to 3.0 degrees Celsius. Within a single control time cycle, the microprocessor reads and calculates the algebraic difference between the surface temperature and the real-time dew point temperature, and marks it as a temperature error parameter. When the temperature error parameter value is determined to be decreasing and its absolute value is less than or equal to 1.5 degrees Celsius, the system triggers a logic decision branch where the surface temperature approaches the real-time dew point temperature. The controller outputs a positive step adjustment command according to the timing sequence, increasing the current pulse duty cycle by a positive fixed increment of 2% to 5%. At the same time, it triggers the underlying overload limiting protection statement, clamping and locking the maximum duty cycle of the control waveform output at 85% to prevent thermal breakdown damage to the insulation layer of the coil inside the magnetic supply component. When the temperature error parameter value is determined to be increasing and greater than or equal to 3.0 degrees Celsius, the system triggers a logic decision branch where the surface temperature moves away from the real-time dew point temperature. The controller outputs a negative step adjustment command, decreasing the current pulse duty cycle by a negative fixed increment of 1% to 3%, and sets the lower limit of the duty cycle used to maintain basic heat transfer to 15%. Furthermore, the anti-condensation zone is quantitatively defined in the system parameters as follows: the lower boundary of the spatial physics is equal to the real-time dew point temperature, and the upper boundary of the spatial physics is equal to the objectively controlled thermal region formed by the real-time dew point temperature plus 8 degrees Celsius.

[0114] Furthermore, in performing the aforementioned closed-loop anti-condensation operation, the logic control unit is also configured to perform an evacuation process based on ambient air pressure: after the magnetic supply component heats up and continues for a preset period of time, the folding protective cover is controlled to open the evacuation gap to a set opening degree; the positive pressure airflow generated by the expansion of hot air is used to discharge the water vapor carrying salt inside through the evacuation gap to the outside; after the evacuation is completed, the folding protective cover is controlled to close.

[0115] It is understood that as the heat source inside the magnetic supply component operates, the air mass inside the sealed space undergoes an isochoric heating process. The static pressure of the internal gas increases with the temperature, thereby establishing a unidirectional positive pressure gradient between the internal space and the external atmosphere. The timer inside the logic control unit records the execution time of the heating program. When the accumulated time reaches the preset time period set by the parameters, a venting command is triggered. Specifically, the parameter value range of the preset time period is defined as 180 seconds to 300 seconds. The basis for setting this constant time span is to ensure that the constant mass of mixed air inside the sealed space completes isochoric thermodynamic expansion after continuously absorbing the Joule heat generated by the magnetic supply component, and establishes a stable positive pressure gradient in the internal space to overcome the resistance of the external atmospheric static pressure.

[0116] The logic control unit sends control messages containing minute displacement deflection data to the digital servo motor driving the rotation shaft of a specific sector panel. The motor drives the corresponding sector panel to rotate a set small angle along the hinge bearing, causing the sealing strips on adjacent mating surfaces to disengage, forming the venting gap that penetrates the inner and outer sides of the sealed space at the panel boundary joint. Specifically, the set small angle is mechanically servo-limited to a rotation angle range of 2 to 5 degrees, resulting in a venting gap width between 5 mm and 12 mm at the junction of adjacent sector panel boundaries. This gap is configured to meet the unidirectional flow cross-sectional area requirement for the outward dissipation of internal positive pressure expansion gas while utilizing the frictional resistance of the narrow space to block the backflow caused by occasional external wind shear carrying high-salt mist and water vapor. When the gap is open, driven by the positive pressure difference (where the internal static pressure is higher than the external atmospheric pressure), gas containing a high concentration of water molecules inside the sealed space flows outward to the external environment along a physical path defined by the pressure gradient. During this dissipation process, the airflow direction exhibits a unidirectional displacement characteristic from the inside to the outside.

[0117] The logic control unit is equipped with a barometric pressure sensor to monitor atmospheric pressure. When the barometric pressure sensor data indicates that the difference in static pressure between the inside and outside gradually decreases and falls within a set error balance range, it indicates that the heated water-carrying air mass has been largely expelled. Specifically, the physical boundary of the error balance range is configured as follows: the microprocessor calculates in real time the algebraic difference between the current static pressure inside the sealed space and the current atmospheric static pressure outside the folded protective cover; when this algebraic difference falls back and remains within the positive micro-pressure difference range of 5 Pascal to 30 Pascal for three consecutive discrete sampling periods, the system lockout logic is triggered. This non-zero positive pressure difference lower limit (i.e., 5 Pascal) is configured as the system action blocking boundary to avoid locking only when the algebraic difference drops to 0 Pascal or negative pressure occurs, thereby preventing the reverse infiltration of external cold air from a fluid dynamics perspective. The logic control unit sends a reverse position recovery control command to the actuator. The motor reverses, driving the sector panel to return to its original position and re-pressing the sealing components at the joint interface, controlling the folded protective cover to return to the connected state, thus achieving the locking.

[0118] After completing the above loop and the logic control unit determines that the objective risk of condensation has been eliminated by analyzing the data curve, the system's underlying logic begins to issue action commands to the external actuators, driving the battery-swapping robotic arm to perform the physical replacement action. The battery-swapping robotic arm includes multiple rotary joints and translational structures driven by series-connected brushless servo motors, with an execution gripping mechanism at the end. The logic control unit calculates the inverse kinematic control matrix equations of the multi-joint mechanism based on the three-dimensional spatial calibration coordinate data of the UAV's battery compartment. The generated displacement and velocity control sequences are distributed to the corresponding servo motor drive units. Each joint rotates in coordination under closed-loop position constraints, driving the end-effector gripper to move to the physical interface position of the battery compartment. Under program control, the gripper releases its internal lock, smoothly extracts the depleted physical battery pack, and moves it to the rear storage compartment configured on the support base for recharging. Subsequently, the gripping mechanism extracts a fully charged battery pack from another charging compartment, reverses the trajectory sequence, pushes the fully charged battery pack into the UAV battery compartment guide rail, completes the physical docking of the power supply interface, and drives the mechanical locking mechanism to lock in place. Through the integrated implementation of the above multiple control dimensions, the system can complete the overall operation while overcoming environmental temperature, humidity and wind disturbances.

[0119] It should be noted that the various hardware actuators involved in the embodiments of this application (such as battery swapping robotic arms, attitude compensation hydraulic cylinders, protective cover mechanical components, etc.) can all be implemented using commercially mature equipment or existing technologies in this field, and are not the focus of improvement of this invention.

[0120] The core innovation of this invention lies in the underlying control logic, data closed-loop strategy, and overall operation control steps of multi-hardware module collaboration. Those skilled in the art, upon learning of the control method and execution sequence disclosed in this application, can build the system using existing standard hardware without any creative effort. Therefore, this specification omits the internal structural details and mechanical diagrams of the aforementioned basic hardware, which does not affect the sufficiency of the disclosure or the feasibility of the technical solution.

[0121] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform, characterized in that, include: Support base; A foldable protective cover is provided around the periphery of the supporting base; The magnetic supply assembly and the battery swapping robotic arm are mounted on the support base; Environmental perception module; The logic control unit is connected to the support base, the folding protective cover, the magnetic supply component, the battery swapping robotic arm, and the environmental sensing module, respectively. The logic control unit is configured to perform the following steps: During the drone landing phase, based on the vibration and wind shear parameters obtained by the environmental perception module, the safe docking time window for the offshore oil platform when it is in the trough of the amplitude wave can be predicted. Within the safe docking time window, the windward and leeward face shields of the folding protective cover are controlled to open and close in an asymmetrical manner to form a downward stable flow field above the support base and guide the UAV to land. After the folded protective cover is closed to form a sealed space, the real-time dew point temperature inside the sealed space is obtained. A bias heating current is input to the magnetic charging component to heat it up. The pulse duty cycle is adjusted according to the real-time dew point temperature to keep the local heat power within the anti-condensation range above the real-time dew point temperature. After the risk of condensation is determined to be eliminated, the battery swapping robotic arm is driven to perform the action.

2. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 1, characterized in that, The bottom of the support base is connected to an automatic leveling mechanism, which includes multiple sets of attitude compensation hydraulic cylinders. The logic control unit drives the attitude compensation hydraulic cylinders to extend and retract according to the tilt attitude data of the offshore oil platform output by the environmental perception module, so as to maintain the support base in a horizontal state.

3. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 2, characterized in that, The inner side of the folding protective cover is integrated with a rainwater collection and discharge component. The rainwater collection and discharge component includes a guide channel and a salt spray filter drain valve. The guide channel guides the accumulated water to the salt spray filter drain valve to discharge it to the external environment according to the closed state of the folding protective cover. The surface of the magnetic supply component is coated with a polysulfide anti-corrosion sealant layer.

4. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 1, characterized in that, The drone's power assembly is equipped with an anti-salt spray sealing structure, which consists of a double-sealed isolation component, a breathable air pressure balance film, and a replaceable desiccant module, used to block the intrusion of high salt spray moisture.

5. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 1, characterized in that, The steps for predicting the safe docking time window for offshore oil platforms when they are at the trough of amplitude waves include: Extract the low-frequency wave swaying component and the high-frequency wind flutter component from the vibration parameters; The low-frequency wave swaying component and the high-frequency wind flutter component are superimposed and mapped in reverse to calculate the composite vibration attenuation node. The smooth time interval between adjacent composite vibration attenuation nodes is extracted as the safe stopping time window.

6. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 1, characterized in that, The step of controlling the windward and leeward face shields of the folding protective cover to open and close in an asymmetrical manner to form a downward-pressure stable flow field above the support base includes: Calculate the obstruction angle of the windward face shield and the guide angle of the leeward face shield based on the wind shear parameters; The windward face shield is controlled to expand to the obstruction angle, and the leeward face shield is simultaneously controlled to expand to the guide angle, so that the obstruction angle is greater than the guide angle. The air velocity is increased by using the asymmetric aerodynamic cross section, thereby generating the downward stable flow field in the region above the support base. In the process of controlling the deployment of the cover, when the algebraic difference between the calculated flow obstruction angle and the flow guide angle is less than 30 degrees, a compensation value is assigned so that the algebraic difference is maintained at an absolute value of 30 degrees or above, so as to ensure the formation of the asymmetric aerodynamic section contraction rate required to maintain the downpressure stable flow field.

7. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 1, characterized in that, The step of obtaining the real-time dew point temperature inside the sealed space includes: Collect the current air temperature and relative humidity values ​​inside the enclosed space; Thermodynamic calculations are performed on the current air temperature and the current relative humidity using empirical formulas for phase change to obtain the critical temperature of phase change at which water vapor reaches saturation. The real-time dew point temperature is obtained by superimposing the phase change critical temperature with the corrosion protection safety margin. The steps of calculating the obstruction angle of the windward face shield and the guide angle of the leeward face shield based on the wind shear parameters include: The three-dimensional airflow velocity physical vector is converted into scalar horizontal wind speed and wind direction deflection angle values ​​in a horizontal two-dimensional reference plane. A 90-degree fan-shaped area is formed by extending 45 degrees to both sides of the center line with the wind direction deflection angle as the center line. The panel whose geometric center normal vector falls into the fan-shaped area is defined as the windward mask body. Based on the azimuth relationship, the opposite panel in the downstream wake area is defined as the leeward mask body. The pre-defined hydrodynamic and aerodynamic parameter mapping matrix table is invoked, with the scalar horizontal wind speed value as the input variable, and the target parameters are calculated using a linear interpolation algorithm; wherein: When the scalar horizontal wind speed value is in the range of 3m / s to 8m / s, the target parameter of the obstruction elevation angle is made to be linearly proportional to the scalar horizontal wind speed value and limited to between 45 degrees and 60 degrees, while the target parameter of the guide opening angle is kept constant at 15 degrees. When the scalar horizontal wind speed value is within the range of greater than 8 m / s and less than or equal to 15 m / s, the target parameter of the obstruction elevation angle is locked to the upper limit of the spatial geometric elevation angle of 60 degrees, and the target parameter of the guide opening angle is simultaneously made to have an inverse linear mapping with the scalar horizontal wind speed value and limited to between 5 degrees and 15 degrees.

8. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 7, characterized in that, The step of adjusting the pulse duty cycle based on the real-time dew point temperature includes: Compare the surface temperature at the power receiving contact of the magnetic charging component with the real-time dew point temperature; If the difference between the surface temperature and the real-time dew point temperature is less than the set first temperature threshold, then the pulse duty cycle is increased to increase the heat generation. If the difference is greater than the set second temperature threshold, the pulse duty cycle is reduced to reduce heat generation and save energy. The corrosion safety margin is used to correct the spatial thermal conduction gradient error between the installation coordinate position of the temperature and humidity digital sensor probe assembly and the power receiving contact of the magnetic supply assembly. The corrosion protection safety margin is determined based on the extracted absolute value of the extreme steady-state spatial thermal conduction temperature difference superimposed with the inherent tolerance of the full-range measurement drift of the digital sensor.

9. The integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform according to claim 1, characterized in that, The logic control unit is also configured to: After the magnetic charging component heats up and continues for a preset period of time, the folding protective cover is controlled to open the drainage gap at a set opening degree. The positive pressure airflow generated by the expansion of hot air is used to discharge the water vapor carrying salt inside through the venting gap. After the venting is completed, the folding protective cover is locked. The input of bias heating current to the magnetic suction supply component is achieved by applying an AC / DC signal that deviates downward from the reference resonant transmission frequency to the internal electromagnetic induction metal coil, thereby reducing the efficiency of induced energy transmission and increasing the Joule heat loss inside the coil. When reducing the pulse duty cycle, the system utilizes the thermal inertia of the material itself to reduce power transmission while smoothly maintaining the surface temperature at or above the control threshold.

10. A control method for an integrated system for take-off, landing, and charging support of unmanned aerial vehicles (UAVs) on a marine platform, applied to the integrated system for take-off, landing, and charging support of unmanned aerial vehicles on a marine platform as described in any one of claims 1 to 9, characterized in that, The following control steps are included: During the drone's landing phase, based on the vibration and wind shear parameters obtained by the environmental perception module, the safe docking time window for the offshore oil platform when it is at the trough of the amplitude wave can be predicted. Within the safe docking time window, the windward and leeward face shields of the folding protective cover are controlled to open and close in an asymmetrical manner to form a downward stable flow field above the support base and guide the UAV to land. After the folded protective cover is closed to form a sealed space, the real-time dew point temperature inside the sealed space is obtained; A bias heating current is input to the magnetic charging component to heat it up. The pulse duty cycle is adjusted according to the real-time dew point temperature to keep the local heat power within the anti-condensation range above the real-time dew point temperature. After the risk of condensation is determined to be eliminated, the battery swapping robotic arm is driven to perform the action.

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