An unmanned aerial vehicle remote delivery type sea surface oil film tracking and positioning device

Abstract

The application provides a UAV remote delivery type sea surface oil film tracking and positioning device, and relates to the technical field of marine environment monitoring and emergency response. The device comprises a UAV carrying platform, an airborne remote automatic unhooking release device, a micro tracking and positioning buoy, a Beidou satellite communication link and a ground receiving system. The UAV carrying platform is used for carrying and transporting the release device and the buoy mounted thereon to the predetermined delivery area in the air. The release device comprises a mechanical lock mechanism which can be unlocked to release the buoy in response to a remote instruction. The buoy is configured to float on the sea surface and drift with the oil film after being separated from the release device, and is used for periodically collecting and sending positioning data. The Beidou satellite communication link is used for establishing a short message data transparent channel between the buoy and the ground receiving system. The ground receiving system is used for receiving and analyzing the positioning data. The application improves the timeliness and reliability of oil spill emergency monitoring.

Description

Technical Field

[0001] This invention relates to the field of marine environmental monitoring and emergency response technology, and in particular to a drone-based remote-deployed oil slick tracking and positioning device. Background Technology

[0002] With the continuous development of the global marine economy, offshore oil exploration, extraction, and transportation activities are becoming increasingly frequent, leading to a growing risk of oil spills at sea. Once an oil spill occurs, it will rapidly spread and drift under the combined influence of various marine dynamic factors such as wind, waves, and currents. Timely and accurate tracking and locating of the oil slick is a crucial prerequisite for effectively controlling pollution spread, scientifically deploying oil booms and oil recovery devices, assessing ecological damage, and carrying out subsequent cleanup work.

[0003] Traditional oil spill monitoring relies on large ships and manned aircraft, which suffers from high response delays, high operating costs, and high personnel risks. Furthermore, existing deployable buoys are generally large, heavy, and inconvenient to deploy, and their communication relies on public networks, resulting in unstable signals at sea. Some UAV-deployed devices also have shortcomings such as lack of long-range satellite signal transmission, low positioning accuracy, and poor waterproof and shock resistance, making it difficult to meet the long-term tracking requirements of oil slicks in complex marine environments.

[0004] Therefore, there is an urgent need for a drone-based remote-deployed oil slick tracking and positioning device to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a drone-based remote-deployed oil slick tracking and positioning device for the sea surface, enabling rapid deployment in oil spill areas, real-time tracking of oil slick drift, and stable transmission of positioning data. It features lightweight design, waterproofing, impact resistance, low power consumption, and long endurance, thereby improving the efficiency of emergency monitoring of oil spills at sea. The various technical effects of the preferred solutions among the many technical solutions provided by this invention are detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a drone-based remote-deployed oil slick tracking and positioning device, comprising a drone platform, an airborne remote automatic unhooking and release device, a miniature tracking and positioning buoy, a BeiDou satellite communication link, and a ground receiving system, wherein: The UAV platform is used to carry and transport the airborne remote automatic unhooking release device and the miniature tracking and positioning buoy mounted on the airborne remote automatic unhooking release device to the airspace above the predetermined deployment area; The airborne remote automatic unhooking release device is located below the UAV platform and includes a mechanical locking mechanism that can unlock in response to a remote command to release the miniature tracking and positioning buoy. The miniature tracking and positioning buoy is configured to float on the sea surface and drift with the oil slick after being detached from the airborne remote automatic unhooking and release device, for periodically collecting and transmitting positioning data; The BeiDou satellite communication link is used to establish a short message data transparent transmission channel between the miniature tracking and positioning buoy and the ground receiving system. The ground receiving system is used to receive and parse the positioning data in order to store, analyze and visualize the oil film drift trajectory.

[0007] Furthermore, the miniature tracking and positioning buoy includes: Flexible foam shell; A sealed chamber is disposed inside the outer shell. The sealed chamber contains a positioning module, a communication module, and a battery pack. The battery pack is offset at the bottom of the sealed chamber to form a low center of gravity counterweight structure. A mounting bracket, located at the bottom of the housing, is detachably locked onto the mechanical locking mechanism; An antenna is disposed at the top of the housing and is electrically connected to the positioning module and the communication module.

[0008] Furthermore, the outer shell is molded from closed-cell cross-linked polyethylene or ethylene-vinyl acetate copolymer material; The orthographic projection of the outer shell onto the horizontal plane is circular or elliptical, and the longitudinal cross-section of the outer shell is streamlined and teardrop-shaped. The outer peripheral wall of the shell has multiple concave guide grooves spaced apart along its longitudinal central axis.

[0009] Furthermore, the miniature tracking and positioning buoy is equipped with a wake-up switch that is linked to the attachment. When the miniature tracking and positioning buoy is detached from the airborne remote automatic unhooking release device, the wake-up switch triggers the electrical conduction of the circuit between the positioning module, the communication module, and the battery pack.

[0010] Furthermore, the wake-up switch is a magnetically controlled reed switch, and the hook is provided with a pull-out insulating cord, the end of which is fixed with a magnetic element, wherein: When the hook is locked to the airborne remote automatic unhooking release device, the magnetic element is located within the sensing area of ​​the magnetic reed switch to maintain the circuit open. When the miniature tracking and positioning buoy detaches from the airborne remote automatic unhooking release device, the insulating pull rope is pulled out, causing the magnetic element to detach from the sensing area, and the magnetic reed switch contacts close to enable the circuit to conduct.

[0011] Furthermore, the airborne remote automatic unhooking release device includes: Matrix; A mounting interface is located on the top of the base for connecting to the UAV mounting platform; A shock-absorbing structure is provided at the connection between the mounting interface and the UAV mounting platform to isolate high-frequency vibrations generated by the UAV body. A wireless signal receiving module is disposed in the substrate and is bound to an independent control channel on the remote controller or ground station of the UAV platform to receive remotely transmitted release commands. The control module, which is disposed in the base and electrically connected to the wireless signal receiving module, has a built-in microcontroller for parsing the release command received by the wireless signal receiving module and outputting control signals to drive the controllable mechanical locking mechanism to operate.

[0012] Furthermore, the mechanical locking mechanism includes: A drive servo motor is fixedly installed in the base body, and its output end is connected to a cam component; A sliding pin is slidably disposed in the base along its axial direction. One end of the sliding pin abuts against the circumferential contour surface of the cam component, and the other end forms a locking portion. The locking portion is used to pass through the hook to lock the miniature tracking and positioning buoy onto the airborne remote automatic unhooking and release device; and An elastic reset element is sleeved on the sliding pin, providing a preload force that ensures that one end of the sliding pin always moves toward the cam element.

[0013] Furthermore, the cam member has a first rotation angle state and a second rotation angle state, wherein: In the first rotation angle state, the high profile surface of the cam member abuts against one end of the sliding pin, pushing the sliding pin to overcome the preload of the elastic reset member and move away from the cam member, so that the locking part remains extended to pass through and lock the hook member; In the second rotation angle state, the lower profile surface of the cam member is opposite to one end of the sliding pin. Under the preload of the elastic reset member, the sliding pin moves towards the cam member, causing the locking part to retract and disengage from the hook member, thus completing the release.

[0014] Furthermore, the BeiDou satellite communication link operates an application-layer-based data interaction protocol, which is configured as follows: The miniature tracking and positioning buoy packages the collected positioning data and device identifier into a data frame. The frame header of the data frame carries a frame sequence number and the frame tail carries a cyclic redundancy check code. After the miniature tracking and positioning buoy sends the data frame through the BeiDou satellite communication link, it starts a timer and opens a short message receiving window. After successfully verifying the data frame, the ground receiving system replies to the miniature tracking and positioning buoy via the BeiDou satellite communication link with an acknowledgment frame corresponding to the frame sequence number. If the micro tracking and positioning buoy does not receive the acknowledgment frame before the timer expires, it is determined that the data frame is lost and the data retransmission process is initiated.

[0015] Furthermore, the drone platform is an industrial-grade multi-rotor drone, which integrates an RTK differential positioning module to achieve centimeter-level hovering accuracy.

[0016] The UAV-based remote-deployed oil slick tracking and positioning device provided by this invention, through the cooperation of a UAV-mounted platform, an airborne remote automatic release device, a miniature tracking and positioning buoy, a BeiDou satellite communication link, and a ground receiving system, utilizes the maneuverability of the UAV-mounted platform to accurately deploy lightweight, robust, durable, and long-endurance dedicated tracking buoys to the core area of ​​the oil spill. Furthermore, through a satellite communication link that does not rely on ground base stations, high-precision oil slick drift trajectory data is transmitted back to the command center in real time, forming a complete oil slick tracking and positioning solution from aerial deployment and surface tracking to shore-based command. The device integrates rapid response, precise positioning, stable communication, and adaptability to harsh environments, improving the timeliness and reliability of oil spill emergency monitoring. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of an embodiment of the UAV-based remote-deployment sea surface oil slick tracking and positioning device of the present invention; Figure 2 This is a schematic diagram illustrating the tracking and positioning principle of the UAV-based remote-deployed sea surface oil slick tracking and positioning device of the present invention. Figure 3 This is a schematic diagram of the structure of the miniature tracking and positioning buoy in the UAV remote-deployed sea surface oil slick tracking and positioning device of the present invention; Figure 4 yes Figure 3 Internal structure diagram; Figure 5 yes Figure 3 A schematic diagram of the cross-sectional structure; Figure 6 This is a schematic diagram of the airborne remote automatic unhooking release device in the UAV remote-deployment sea surface oil film tracking and positioning device of the present invention; Figure 7 yes Figure 6 A structural diagram from another angle; Figure 8 This is a schematic diagram of the drive servo motor in the UAV remote-deployment sea surface oil film tracking and positioning device of the present invention; Figure 9 This is a flowchart illustrating the workflow of the UAV-based remote-deployment sea surface oil film tracking and positioning device of the present invention.

[0019] In the diagram: 100, UAV platform; 200, airborne remote automatic unhooking release device; 210, mounting interface; 220, wireless signal receiving module; 230, control module; 240, drive servo motor; 250, locking part; 300, miniature tracking and positioning buoy; 310, outer shell; 320, antenna; 330, circuit board; 340, battery pack; 350, sealing assembly; 360, mounting bracket; 400, Beidou satellite communication link; 500, ground receiving system. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0021] In the description of this invention, it should be understood that the terms "center," "side," "length," "width," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] like Figure 1 and Figure 2 As shown, this embodiment provides a drone-launched remote-deployed oil slick tracking and positioning device, specifically a device that is remotely deployed by a drone and can track and locate the drift trajectory of the oil slick in real time for monitoring oil spill pollution accidents on the sea surface. The device specifically includes a drone-mounted platform 100, an airborne remote automatic release device 200 installed below the drone-mounted platform 100, a miniature tracking and positioning buoy 300 mounted on the airborne remote automatic release device 200, a Beidou satellite communication link 400 for relay communication, and a ground receiving system 500 located on shore or ship.

[0024] The UAV platform 100 is used to carry and transport the airborne remote automatic release device 200 and the miniature tracking and positioning buoy 300 mounted on the airborne remote automatic release device 200 to the airspace above the predetermined deployment area.

[0025] The preferred drone platform 100 is an industrial-grade multi-rotor drone with high wind resistance, IP45 or higher waterproof and dustproof rating, and integrated RTK differential positioning module. It has meter-level positioning capability, enabling high-precision autonomous route planning, flight, and centimeter-level precise hovering over the target point, providing a stable and accurate aerial platform for delivery operations.

[0026] In this embodiment, the drone platform 100 is an industrial-grade hexacopter drone with a maximum takeoff weight of more than 15 kg. It is capable of withstanding winds of up to level 6 and moderate rain and is equipped with a high-precision RTK positioning module, which can achieve centimeter-level precise hovering to ensure stable flight over the target delivery point.

[0027] By using drones instead of ships and manned aircraft, deployment is more mobile and flexible. Drones can reach oil spill sites hundreds of kilometers away and complete the release within 1-2 hours after receiving instructions, thus gaining a valuable time window for early control of oil film spread.

[0028] An airborne remote automatic unhooking release device 200 is located below the UAV platform 100 and includes a mechanical locking mechanism that can unlock in response to a remote command to release the miniature tracking and positioning buoy 300.

[0029] The airborne remote automatic unhooking release device 200 in this embodiment is one of the core mission payloads installed under the fuselage of the UAV. It is connected to the standard interface of the UAV fuselage through a universal mounting interface and is equipped with a shock-absorbing structure. The shock-absorbing structure consists of rubber or spring dampers installed on the mounting interface to isolate the high-frequency vibration generated by the UAV motor, prevent the vibration from being transmitted to the mechanical locking mechanism, and avoid fatigue damage or accidental triggering of the mechanism.

[0030] The miniature tracking and positioning buoy 300 is configured to float on the sea surface and drift with the oil slick after being detached from the airborne remote automatic release device 200. It is used to periodically collect and transmit positioning data and is the core execution component of this UAV-based remotely deployed sea surface oil slick tracking and positioning device.

[0031] In this embodiment, the miniature tracking and positioning buoy 300 has a main structure and an outer shell. The main structure is made of aerospace-grade aluminum alloy or carbon fiber composite material to ensure minimal weight while meeting strength requirements. The outer shell is integrally molded from closed-cell foam flexible material, which has low density, high buoyancy, and can effectively buffer impact forces. In addition, multiple longitudinal flow-guiding grooves are opened on the surface of the outer shell to reduce water flow resistance and improve its wave-following performance.

[0032] By employing the lightweight, miniature tracking buoy 300, it can be easily mounted on medium-sized industrial drones. Through sophisticated low-power management, a single battery can support the buoy's continuous operation for more than 7 days, meeting the tracking needs from emergency response to the end of the disposal process.

[0033] The BeiDou satellite communication link 400 is used to establish a short message data transmission channel between the miniature tracking and positioning buoy 300 and the ground receiving system 500, which is crucial for achieving all-weather, all-sea-area data backhaul. By adopting BeiDou satellite high-precision positioning, the average positioning error can be controlled within the meter level. It can accurately attach to and follow the movement of oil slicks on the sea surface, and its trajectory data can reflect the actual drift path of the oil slick with high fidelity, providing precise guidance for containment and cleanup operations.

[0034] The ground receiving system 500 is used to receive and parse positioning data to store, analyze and visualize the oil film drift trajectory. It is a terminal for data processing, visualization and decision support. The system can be a software installed on the command center server, or it can be a portable computer or cloud platform.

[0035] This UAV-based remote-deployed oil slick tracking and positioning device utilizes a UAV-mounted platform 100, replacing ships and manned aircraft to provide rapid mobile response capabilities and overcome the shortcomings of slow response and high cost associated with traditional ships and manned aircraft. The airborne remote automatic release device 200 can unlock in response to remote commands to release a miniature tracking buoy 300, which drifts synchronously with the oil slick to ensure accurate tracking. The BeiDou satellite communication link 400 enables data transmission without blind spots in the open ocean. The ground receiving system 500 provides visualized data support for emergency decision-making. Through the coordination of the UAV-mounted platform 100, the airborne remote automatic release device 200, the miniature tracking buoy 300, the BeiDou satellite communication link 400, and the ground receiving system 500, a complete oil slick tracking and positioning solution is formed, encompassing aerial deployment, surface tracking, and shore-based command, improving the timeliness and reliability of oil spill emergency monitoring.

[0036] As an optional implementation method, such as Figures 3-5 As shown, the miniature tracking and positioning buoy 300 is the core unit for performing tracking tasks, including a flexible foam shell 310, a sealed cabin, a mounting bracket 360, and an antenna 320.

[0037] The flexible foam shell 310 is molded from closed-cell cross-linked polyethylene or ethylene-vinyl acetate copolymer. The shell 310 has a smooth surface and is resistant to seawater, grease corrosion, and UV aging. Closed-cell cross-linked polyethylene or ethylene-vinyl acetate copolymer has extremely low density, extremely high closed-cell rate, and extremely low water absorption rate, which can ensure long-term buoyancy stability, making it the preferred material for this flexible foam shell 310.

[0038] In this embodiment, the outer shell 310 has a circular or elliptical orthographic projection on a horizontal plane, and its longitudinal cross-section is streamlined and teardrop-shaped, giving the overall micro-tracking and positioning buoy 300 a streamlined teardrop or spindle shape. Multiple concave guide grooves are spaced along the longitudinal central axis of the outer periphery of the outer shell 310 to guide the ocean current flowing across its surface, increasing viscous resistance. This allows the micro-tracking and positioning buoy 300 to better follow the surface oil film rather than the underlying water layer, ensuring that the collected drift trajectory data accurately reflects the actual movement of the oil film and improving the accuracy of the tracking.

[0039] The sealed cabin, located inside the outer shell 310, is the main structure of the miniature tracking and positioning buoy 300. It houses a positioning module, a communication module, and a battery pack 340, which is offset at the bottom of the sealed cabin to create a low center of gravity counterweight structure. In this embodiment, the battery pack 340 is a high-capacity lithium thionyl chloride battery pack. The mounting bracket 360 is located at the bottom of the outer shell 310 and can be detachably locked onto a mechanical locking mechanism. The antenna 320 is located at the top of the outer shell 310 and is electrically connected to the positioning module and the communication module.

[0040] Specifically, in this embodiment, the sealed chamber is divided into two independent upper and lower chambers by the sealing assembly 350. The lower chamber, near the bottom, is connected to the mounting bracket 360 and houses a high-energy-density lithium battery. This ensures that the buoy's center of gravity is below its geometric center, maintaining an upright posture in the water. The upper chamber houses a positioning module and a communication module integrating BeiDou positioning and communication functions, forming a modular circuit board 330. This circuit board 330 is electrically connected to the BeiDou antenna 320 mounted on the top of the outer shell, flush against the inner wall. The circuit board integrates a microcontroller (MCU) with an ultra-low power design. During non-positioning and non-transmission periods, the MCU and all peripherals enter a deep sleep mode. The MCU is periodically woken up by an internal real-time clock to control the BeiDou module for positioning, obtain latitude and longitude coordinates, and then control the BeiDou communication module to encode and transmit the data. After completion, it immediately enters deep sleep again. This intermittent working mode significantly extends the battery's operating time. The upper chamber is pressure-balanced with the external environment through a waterproof and breathable valve, achieving an overall waterproof rating of IP67.

[0041] In this embodiment, a high-gain, miniaturized quad-arm helical antenna 320, specifically optimized for the BeiDou frequency band, is integrated at the highest point of the miniature tracking and positioning buoy 300. The antenna 320 is connected to the internal module via a waterproof connector and is double-sealed using corrosion-resistant fluororubber O-rings and epoxy resin potting compound to ensure that the waterproof rating of the entire miniature tracking and positioning buoy 300 meets or exceeds the IP67 standard.

[0042] By selecting a lightweight foam shell, highly integrated electronic modules, and high-energy-density batteries, the foam shell itself serves as an excellent cushioning material. Combined with the vibration-damping and fixing of the internal modules, the buoy can withstand the impact of a free fall from a height of 15 meters onto the water surface without structural or functional damage. Inside the miniature tracking and positioning buoy 300, there is an independent, completely sealed hard alloy inner liner. All electronic components, including the main control board, Beidou positioning module, Beidou short message communication module, and batteries, are installed within this inner liner. A large-capacity lithium thionyl chloride battery pack, accounting for more than 50% of the buoy's total weight, is placed at the bottom of the inner liner as ballast. This ensures that the overall center of gravity of the miniature tracking and positioning buoy 300 is far below the center of buoyancy, allowing it to quickly adjust its attitude after entering the water, forming a self-sustaining structure. This ensures that even with violent swaying in wind and waves, the top antenna 320 always points towards the sky, guaranteeing optimal satellite signal transmission and reception.

[0043] As an optional implementation, the miniature tracking and positioning buoy 300 in this embodiment is equipped with a wake-up switch that is linked to the hook 360. When the miniature tracking and positioning buoy 300 is detached from the airborne remote automatic unhooking release device 200, the wake-up switch triggers the electrical conduction of the circuit between the positioning module, the communication module and the battery pack.

[0044] By incorporating a wake-up switch linked to the attachment 360 within the miniature tracking and positioning buoy 300, the buoy achieves activation upon deployment. While mounted, the buoy's internal circuitry remains completely open, operating in zero-power standby mode, maximizing battery energy conservation for tracking operations after entry into the water. The buoy automatically powers on the moment it detaches from the onboard remote automatic release device 200, eliminating the need for manual remote control or pre-set timers. This simplifies on-site operations and ensures reliable startup even in harsh sea conditions, preventing monitoring failures due to forgotten power-on or remote control malfunction.

[0045] Specifically, the wake-up switch is a magnetic reed switch, and the mounting bracket 360 is equipped with a removable insulating cord, the end of which is fixed with a magnetic element. When the mounting bracket 360 is locked to the airborne remote automatic release device 200, the magnetic element is located within the sensing area of ​​the magnetic reed switch to maintain the circuit open; when the miniature tracking and positioning buoy 300 is disengaged from the airborne remote automatic release device 200, the insulating cord is pulled out, causing the magnetic element to leave the sensing area, and the magnetic reed switch contacts close to achieve circuit conduction.

[0046] A magnetic reed switch is a passive magnetic switch that consumes no electrical energy in standby mode, which is beneficial for the long-term storage and transportation of the miniature tracking and positioning buoy 300. By linking the magnetic element with the mounting bracket via an insulated pull rope, the mechanical displacement of the deployment action is converted into a change in magnetic field, thereby controlling the on / off state of the circuit and achieving a reliable conversion of mechanical action into an electrical signal. This wake-up method is simple in structure, low in cost, and highly resistant to seawater corrosion. Furthermore, the non-contact magnetic field induction avoids the contact oxidation or jamming problems that may occur with mechanical contact switches in the salt spray environment of seawater, ensuring high long-term reliability. The action of pulling the pull rope occurs synchronously with the physical process of the buoy detaching from the release device, requiring no additional timing control, making the implementation simple and reliable.

[0047] As an optional implementation method, such as Figure 6 As shown, the airborne remote automatic unhooking release device 200 includes a base, a mounting interface 210, a shock-absorbing structure, a wireless signal receiving module 220, and a control module 230.

[0048] The base is made of aluminum alloy shell, and the mounting interface 210 is set on the top of the base for connection with the UAV mounting platform 100. The shock absorption structure uses rubber or spring shock absorbers, which are set at the connection between the mounting interface 210 and the UAV mounting platform 100 to isolate the high-frequency vibration generated by the UAV body, prevent the vibration from being transmitted to the locking mechanism, and avoid fatigue damage or accidental triggering of the mechanism.

[0049] The wireless signal receiving module 220 is disposed within the base and is bound to an independent control channel on the remote controller of the UAV platform 100 or a ground station to receive remotely transmitted release commands. In this embodiment, the wireless signal receiving module 220 operates at a frequency of 2.4 GHz. The control module 230 is disposed in the base and electrically connected to the wireless signal receiving module. It has a built-in microcontroller for parsing the release command received by the wireless signal receiving module and outputting control signals to drive the drive servo motor 240 of the controllable mechanical locking mechanism.

[0050] Specifically, such as Figures 6-8 As shown, the mounting interface 210 is a lifting ring mounting base, and the airborne remote automatic unhooking release device 200 is fixed to the center position under the fuselage of the UAV platform 100 through the lifting ring mounting base on its top.

[0051] The core of the airborne remote automatic release device 200 is a mechanical latch driven by an electrically driven servo motor 240. Specifically, the mechanical latch mechanism includes the servo motor 240, a sliding pin, and a resilient reset component.

[0052] A high-torque, high-precision digital servo motor is used as the power source, driving the servo motor 240 to be fixedly installed in the base, and its output end is connected to a cam. A sliding pin is slidably disposed in the base along its axial direction, one end of the sliding pin abutting against the circumferential contour surface of the cam, and the other end forming a locking part 250. The locking part 250 is used to pass through the hook 360 to lock the miniature tracking and positioning buoy 300 onto the airborne remote automatic unhooking release device 200; and an elastic reset member, which is a spring, is sleeved on the sliding pin to provide a preload force that keeps one end of the sliding pin always moving towards the cam.

[0053] In this embodiment, the cam component has a first rotation angle state and a second rotation angle state. In the first rotation angle state, the high profile surface of the cam component abuts against one end of the sliding pin, pushing the sliding pin to overcome the preload of the elastic reset component and move away from the cam component, so that the locking part remains extended to pass through and lock the hook component. In the second rotation angle state, the low profile surface of the cam component is opposite to one end of the sliding pin, and the sliding pin moves towards the cam component under the preload of the elastic reset component, so that the locking part retracts to disengage from the hook component, thus completing the release.

[0054] With the end of the sliding pin contacting the surface of the cam component, in the locked state, the pin, under the action of the spring, passes through the lifting ring of the miniature tracking and positioning buoy 300 and is held in place by the flat high surface of the cam component, forming a mechanical self-locking mechanism. This ensures a secure lock even under severe vibration or power failure of the servo motor. Upon receiving a release command, the servo motor 240 is driven to rotate, causing the low surface of the cam component to turn towards the pin. Under the action of the preload spring, the pin quickly retracts, disengaging from the buoy lifting ring and completing the release. The release action is crisp, reliable, and has a short response time.

[0055] During operation, in standby mode, the hook actuator, i.e., the locking part 250, is in the locked position, firmly hooking the bottom connecting hook, i.e., the attachment 360, of the miniature tracking and positioning buoy 300. When the ground control station issues a deployment command, the wireless signal receiving module 220 receives the command, and the control module 230 drives the drive servo motor 240 to rotate a certain angle. The drive servo motor 240, through the linkage mechanism, drives the locking part 250 to open instantaneously, releasing the buoy.

[0056] As an optional implementation, the BeiDou satellite communication link 400 utilizes the BeiDou-3 global short message communication service and, based on this, designs an application-layer data transmission protocol with acknowledgment and retransmission mechanisms. The protocol is configured as follows: the miniature tracking and positioning buoy 300 packages the collected positioning data and device identifier into a data frame. The frame header carries a frame sequence number, and the frame tail carries a cyclic redundancy check code. After the miniature tracking and positioning buoy 300 sends the data frame through the BeiDou satellite communication link 400, it starts a timer and opens a short message receiving window. After successfully verifying the data frame, the ground receiving system 500 replies to the miniature tracking and positioning buoy 300 with an acknowledgment frame corresponding to the frame sequence number through the BeiDou satellite communication link 400. If the buoy 300 does not receive an acknowledgment frame before the timer expires, it determines that the data frame is lost and starts the data retransmission process.

[0057] Specifically, the miniature tracking and positioning buoy 300 integrates a communication module supporting the BeiDou-3 global short message communication service. This module is low-power, small in size, and can send messages up to 2000 bytes in a single transmission, sufficient to accommodate multiple positioning data. Addressing the connectionless and unreliable nature of BeiDou short messages, which are "transmit-and-forget" based, an application-layer protocol is employed to ensure correct data delivery. The buoy packages the collected latitude and longitude, timestamp, device ID, battery voltage, and other information into a data frame with a sequence number and a CRC-16 cyclic redundancy check code. The buoy transmits this data frame to the ground receiving system via the BeiDou module. After transmission, the buoy enters a brief receiving window, waiting for the ground system to reply with an acknowledgment frame containing the corresponding sequence number via the BeiDou link. If no acknowledgment frame (ACK) is received within the specified time, the buoy considers the data lost and will retransmit in the next working cycle or immediately. To avoid channel congestion, an exponential backoff algorithm is used to gradually increase the retransmission interval, with an upper limit set for the number of retransmissions. Through this "request-response" closed-loop communication mechanism, combined with the concept of forward error correction (FEC), even if the antenna is occasionally blocked by sea waves, resulting in a single transmission failure, subsequent retransmissions and data redundancy mechanisms can ultimately ensure that all positioning data can be successfully received by the ground system.

[0058] The design of the miniature tracking and positioning buoy 300 fully considers requirements such as hydrodynamics, center of gravity stability, signal transmission, shock resistance, and long endurance. During operation, after the miniature tracking and positioning buoy 300 is deployed, its internal power management module detects water entry via a water contact switch or accelerometer and automatically connects the main circuit. The BeiDou positioning / communication module then begins operation, acquiring latitude and longitude data in the WGS-84 coordinate system at a preset interval, such as every 15 minutes. This data is packaged into BeiDou short messages and transmitted via the BeiDou antenna 320 to the BeiDou satellite communication link 400. The BeiDou satellite communication link 400 forwards the messages to the BeiDou command terminal of the ground receiving system 500.

[0059] The ground receiving system 500 in this embodiment includes a BeiDou command unit, a data server, and a visualization software. After receiving the original message, the BeiDou command unit transmits it to the data server for protocol parsing, error correction, and database storage. The visualization software reads data from the database and displays the buoy's current position and historical drift trajectory on the electronic nautical chart in real time and dynamically.

[0060] Specifically, the ground receiving system 500 in this embodiment can receive short message data from each buoy in real time through a BeiDou ground service terminal connected to the Internet, and perform parsing, verification, and deduplication according to a predetermined protocol. It can also store the parsed structured data (device ID, time, latitude and longitude, battery level, etc.) in a database for long-term archiving and management. Furthermore, it can draw the movement trajectory of each buoy in real time on a Geographic Information System (GIS) map, with different buoy trajectories distinguished by different colors. Based on historical trajectory data and combined with forecasting models such as ocean currents and wind fields, the system can predict and calculate the future drift path of the oil slick. It also displays the latest position, working status, and remaining battery level of each buoy in real time. When the battery level falls below a preset threshold, the system will automatically issue an alarm, alerting the administrator that the buoy is about to fail.

[0061] like Figure 9 As shown, the workflow of this UAV-based remote-deployed oil slick tracking and positioning device includes the following steps: S1: Preparation and takeoff. On shore or on an emergency command vessel, the operator attaches the sling of the miniature tracking and positioning buoy 300 to the onboard remote automatic release device 200 under the UAV and confirms that the lock is securely locked; the operator then plans the UAV's flight path to the identified oil spill area.

[0062] S2: Approach and Deployment. The drone autonomously flies to the core area of ​​the oil spill and descends to a hovering height of 15-20 meters above the sea surface. After confirming the deployment point via video transmission, the operator triggers the release command on the remote controller.

[0063] S3: Release and Activation. Upon receiving the command, the airborne remote automatic unhooking release device 200 drives the servo motor 240 to retract, and the pin retracts, allowing the miniature tracking and positioning buoy 300 to fall freely under gravity. At the moment of release from the hook, the magnetic switch pull rope connected to the hook is pulled out, and the miniature tracking and positioning buoy 300 is automatically powered on and activated.

[0064] S4: Water Entry and Operation. The Miniature Tracking and Positioning Buoy 300 is submerged in water. Thanks to the cushioning of its foam shell and its low center of gravity design, it remains undamaged and quickly self-rights. Upon activation, the Miniature Tracking and Positioning Buoy 300 immediately begins executing its preset program: every 30 minutes, it wakes up the positioning and communication module, acquires latitude and longitude coordinates, packages them, and sends them out via BeiDou short message service. It then waits for ACK confirmation; if this fails, it retransmits in the next cycle.

[0065] S5: Data Reception and Visualization. The ground system receives, parses, and stores the data transmitted back by the buoy in real time. On the GIS map, the buoy's icon begins to appear and moves as new data arrives, plotting the oil slick's drift trajectory in real time.

[0066] S6: Continuous tracking and mission completion. The miniature tracking buoy 300 continuously drifts with the oil slick and periodically transmits its position back. The ground system can simultaneously monitor the trajectories of multiple miniature tracking buoys 300. The buoys cease operation only after their batteries are depleted, 7 days later. The entire process provides continuous, dynamic data support for oil spill response.

[0067] To verify the reliability and effectiveness of this invention, a series of performance tests are required, including: Waterproof test: The miniature tracking and positioning buoy 300 was immersed in simulated seawater at a depth of 1 meter for 30 minutes. After being removed, it was checked and found that there was no water ingress inside, and the circuit board was working normally.

[0068] Impact test: The miniature tracking and positioning buoy 300 was dropped freely from a height of 15 meters onto the water surface, repeated 10 times. All test samples showed intact structure, no cracks in the outer shell, and normal function after being powered on.

[0069] Positioning accuracy test: Perform a static test at a fixed point with known coordinates, continuously record 100 positioning points, calculate the planar distance between the points and the true value, and the average standard deviation should be less than 1 meter.

[0070] Communication success rate test: Cover the antenna of the positioning device with a metal plate, send 100 short messages, count the successful reception of the ground system, and calculate the success rate.

[0071] Battery life test: A fully charged miniature tracking and positioning buoy 300 was placed at room temperature and operated continuously, with a set report period interval. Its operating status and battery voltage were monitored via serial port. The duration of battery voltage drop to the shutdown threshold was recorded to evaluate continuous battery life performance.

[0072] Compared with existing technologies, this UAV-based remote-deployed oil slick tracking and positioning device has the following significant advantages: The buoys are simple in structure, lightweight, have long endurance, and are low in cost, making them suitable for multi-point, batch deployment in emergency situations to form a tracking network. Based on the BeiDou global short message service, they completely solve the communication challenges at sea. The unique application-layer ARQ protocol upgrades the unreliable short message transmission link to a highly reliable data channel, ensuring that critical positioning data can be successfully transmitted back even in scenarios with obstruction or poor signal, guaranteeing blind-spot-free, highly reliable global communication and ensuring the continuity and reliability of the decision-making chain.

[0073] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A drone-based remote-deployment oil slick tracking and positioning device, characterized in that, This includes an unmanned aerial vehicle (UAV) platform, an airborne remote automatic unhooking and release device, a miniature tracking and positioning buoy, a BeiDou satellite communication link, and a ground receiving system, among which: The UAV platform is used to carry and transport the airborne remote automatic unhooking release device and the miniature tracking and positioning buoy mounted on the airborne remote automatic unhooking release device to the airspace above the predetermined deployment area; The airborne remote automatic unhooking release device is located below the UAV platform and includes a mechanical locking mechanism that can unlock in response to a remote command to release the miniature tracking and positioning buoy. The miniature tracking and positioning buoy is configured to float on the sea surface and drift with the oil slick after being detached from the airborne remote automatic unhooking and release device, for periodically collecting and transmitting positioning data; The BeiDou satellite communication link is used to establish a short message data transparent transmission channel between the miniature tracking and positioning buoy and the ground receiving system. The ground receiving system is used to receive and parse the positioning data in order to store, analyze and visualize the oil film drift trajectory.

2. The UAV-based remote-deployment sea surface oil slick tracking and positioning device according to claim 1, characterized in that, The miniature tracking and positioning buoy includes: Flexible foam shell; A sealed chamber is disposed inside the outer shell. The sealed chamber contains a positioning module, a communication module, and a battery pack. The battery pack is offset at the bottom of the sealed chamber to form a low center of gravity counterweight structure. A mounting bracket, located at the bottom of the housing, is detachably locked onto the mechanical locking mechanism; An antenna is disposed at the top of the housing and is electrically connected to the positioning module and the communication module.

3. The UAV-based remote-deployment sea surface oil slick tracking and positioning device according to claim 2, characterized in that, The outer shell is molded from closed-cell cross-linked polyethylene or ethylene-vinyl acetate copolymer material; The orthographic projection of the outer shell onto the horizontal plane is circular or elliptical, and the longitudinal cross-section of the outer shell is streamlined and teardrop-shaped. The outer peripheral wall of the shell has multiple concave guide grooves spaced apart along its longitudinal central axis.

4. The UAV-based remote-deployment sea surface oil slick tracking and positioning device according to claim 3, characterized in that, The miniature tracking and positioning buoy is equipped with a wake-up switch that is linked to the attachment. When the miniature tracking and positioning buoy is detached from the airborne remote automatic unhooking release device, the wake-up switch triggers the electrical conduction of the circuit between the positioning module, the communication module, and the battery pack.

5. A remote-deployed sea surface oil slick tracking and positioning device for unmanned aerial vehicles (UAVs) according to claim 4, characterized in that, The wake-up switch is a magnetic reed switch, and the hook is equipped with a pull-out insulating cord. A magnetic element is fixed to the end of the insulating cord. When the hook is locked to the airborne remote automatic unhooking release device, the magnetic element is located within the sensing area of ​​the magnetic reed switch to maintain the circuit open. When the miniature tracking and positioning buoy detaches from the airborne remote automatic unhooking release device, the insulating pull rope is pulled out, causing the magnetic element to detach from the sensing area, and the magnetic reed switch contacts close to enable the circuit to conduct.

6. A remote-deployed marine oil slick tracking and positioning device according to any one of claims 1-5, characterized in that, The airborne remote automatic unhooking and release device includes: Matrix; A mounting interface is located on the top of the base for connecting to the UAV mounting platform; A shock-absorbing structure is provided at the connection between the mounting interface and the UAV mounting platform to isolate high-frequency vibrations generated by the UAV body. A wireless signal receiving module is disposed in the substrate and is bound to an independent control channel on the remote controller or ground station of the UAV platform to receive remotely transmitted release commands. The control module, which is disposed in the base and electrically connected to the wireless signal receiving module, has a built-in microcontroller for parsing the release command received by the wireless signal receiving module and outputting control signals to drive the controllable mechanical locking mechanism to operate.

7. A remote-deployed sea surface oil slick tracking and positioning device for unmanned aerial vehicles (UAVs) according to claim 6, characterized in that, The mechanical locking mechanism includes: A drive servo motor is fixedly installed in the base body, and its output end is connected to a cam component; A sliding pin is slidably disposed in the base along its axial direction. One end of the sliding pin abuts against the circumferential contour surface of the cam component, and the other end forms a locking portion. The locking portion is used to pass through the hook to lock the miniature tracking and positioning buoy onto the airborne remote automatic unhooking and release device; and An elastic reset element is sleeved on the sliding pin, providing a preload force that ensures that one end of the sliding pin always moves toward the cam element.

8. A remote-deployment sea surface oil slick tracking and positioning device for unmanned aerial vehicles (UAVs) according to claim 7, characterized in that, The cam component has a first rotation angle state and a second rotation angle state, wherein: In the first rotation angle state, the high profile surface of the cam member abuts against one end of the sliding pin, pushing the sliding pin to overcome the preload of the elastic reset member and move away from the cam member, so that the locking part remains extended to pass through and lock the hook member; In the second rotation angle state, the lower profile surface of the cam member is opposite to one end of the sliding pin. Under the preload of the elastic reset member, the sliding pin moves towards the cam member, causing the locking part to retract and disengage from the hook member, thus completing the release.

9. A remote-deployed marine oil slick tracking and positioning device according to any one of claims 1-5, characterized in that, The BeiDou satellite communication link operates an application-layer-based data interaction protocol, which is configured as follows: The miniature tracking and positioning buoy packages the collected positioning data and device identifier into a data frame. The frame header of the data frame carries a frame sequence number and the frame tail carries a cyclic redundancy check code. After the miniature tracking and positioning buoy sends the data frame through the BeiDou satellite communication link, it starts a timer and opens a short message receiving window. After successfully verifying the data frame, the ground receiving system replies to the miniature tracking and positioning buoy via the BeiDou satellite communication link with an acknowledgment frame corresponding to the frame sequence number. If the micro tracking and positioning buoy does not receive the acknowledgment frame before the timer expires, it is determined that the data frame is lost and the data retransmission process is initiated.

10. A remote-deployed marine oil slick tracking and positioning device according to any one of claims 1-5, characterized in that, The drone platform is an industrial-grade multi-rotor drone, which integrates an RTK differential positioning module to achieve centimeter-level hovering accuracy.

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