An intelligent unmanned boat with self-repair function

Abstract

The present invention provides an intelligent unmanned boat with a self-repair function. Compared with the prior art, the present invention further includes a buffer module for identifying foreign objects within a preset distance range of the hull and buffering the impact force between the foreign objects, a monitoring module for detecting the hull of the boat at a preset frequency to identify damage to the hull of the boat, a hull repair module for repairing damaged areas of the hull of the boat, and a sail module provided on the hull with automatic extension adjustment and repair. The present invention monitors and identifies the damage condition of the sail body of the unmanned boat, and realizes automatic replacement of the damaged sail body, thereby improving the safety of the unmanned boat during water operations.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and in particular to an intelligent unmanned boat with a self-repair function. Background Art

[0002] Unmanned boats are unmanned surface mobile platforms that have emerged in recent years. Equipped with various sensors, they can perform tasks such as autonomous navigation, path planning, and water operations. Unmanned boats mainly include unmanned surface vessels and unmanned underwater vehicles. The development of unmanned boat technology has provided new ideas for high-efficiency, high-intelligence, and large-scale intelligent marine environment data monitoring and the fishery aquaculture field, and has gradually received more and more attention. As a robot for sea operations, the monitoring and identification of self-failures of unmanned boats during sea operations is particularly important.

[0003] This experimental team has long browsed and studied a large number of relevant records and materials on the related technologies of unmanned boats. At the same time, relying on relevant resources, a large number of relevant experiments have been carried out. After a large number of searches, it is found that the existing technologies such as CN106444776B, CN105226778B, WO2021082864A1 disclosed in the prior art, and a method for evaluating the autonomous performance of an unmanned boat disclosed in the prior art, including the following steps: 1) Preparation of test tools; 2) Selection of waters; 3) Performance evaluation, including autonomous path planning performance evaluation, autonomous path tracking performance evaluation, and autonomous collision avoidance performance evaluation; 4) Use the following dimensionless formulas to evaluate the autonomous path planning performance, autonomous path tracking performance, and autonomous collision avoidance performance respectively. At the same time, by repeating autonomous path planning, autonomous path tracking, and autonomous collision avoidance n times, the final autonomous path planning performance, autonomous path tracking performance, and autonomous collision avoidance performance are obtained based on the single autonomous path planning performance, single autonomous path tracking performance, and single autonomous collision avoidance performance. The present invention combines the length converted into dimensionless parameters with time, trajectory error and time, and trajectory length and time in proportion, and uses weight distribution combination to carry out the comprehensive evaluation of the autonomous performance of the unmanned boat, and proposes a specific evaluation process. The evaluation method is simple, easy to implement, scientific and reasonable.

[0004] In order to solve the problems commonly existing in this field, such as the inability of unmanned boats to effectively reduce damage through self-repair after identifying their own abnormalities during operation, and the self-safe repair technology of unmanned boats, the present invention is made. Summary of the Invention

[0005] The purpose of the present invention is to propose an intelligent unmanned boat with a self-repair function in view of the deficiencies currently existing in this field.

[0006] In order to overcome the deficiencies of the prior art, the present invention adopts the following technical solutions:

[0007] An intelligent unmanned boat with self-repair function, the unmanned boat includes a hull, a power module that provides navigation power for the hull, an information transmission module through which the unmanned boat and a remote terminal mutually transmit information through communication technology, a power supply module that provides power for the power module, a solar panel disposed on the hull for converting solar energy to provide energy consumption and storing electric energy in the power supply module, a camera device for photographing the sea conditions, and a return voyage acquisition module that obtains the position information of the hull through a GPS positioning terminal and further plans the path to return to the base.

[0008] The intelligent unmanned boat further includes a buffer module that identifies foreign objects within a preset distance range of the hull and buffers the impact force on the foreign objects in a targeted manner, and a sail module disposed on the hull with automatic stretching adjustment and self-repair function.

[0009] Furthermore, the sail module includes a rotating platform disposed on the top shell plate of the hull, a fixed seat disposed on the upper surface of the rotating platform, a storage cylinder with a cylindrical structure and at least partially horizontally embedded in the fixed seat, a recovery cavity with a closed cavity structure disposed inside the storage cylinder, a recovery rod horizontally and rotatably fixed in the recovery cavity through a bearing ring, a first reduction motor embedded in the storage cylinder and corresponding power output shaft penetrating into the recovery cavity to be connected and fixed with the recovery rod to drive the recovery rod to rotate in the recovery cavity, a storage port disposed on the top wall of the storage cylinder and communicated with the recovery cavity, a support column vertically disposed on the fixed seat through corresponding locking elements, a first sail body with the bottom extending into the recovery cavity through the storage port to be fixedly connected with the outer rod wall of the recovery rod and the top movably fixed on the outer column wall of the support column, a movable clamping unit that clamps and fixes the top of the first sail body and drives the top of the first sail body to move up and down relative to the support column, a directional camera for acquiring images of the first sail body, an identification unit that receives the image information of the directional camera and identifies the damage condition of the first sail body in the image through image analysis and processing technology, a replacement unit that automatically replaces the damaged first sail body with a new second sail body when the first sail body is damaged, at least one fixed clamping unit horizontally fixed on the support column to clamp and fix part of the area of the first sail body and / or the second sail body respectively, and a signal sending unit that sends the identification result of the identification unit to the replacement unit.

[0010] Further, the buffer module includes unit buffer mechanisms uniformly distributed on the outer wall of the unmanned boat hull for buffering the impact force of the hull, sensors for sensing and identifying objects within a preset range close to the unmanned boat, an image analysis unit for extracting the environmental image captured by the imaging device in the direction of the object and analyzing the environmental image to identify the type and size of the object in the environmental image, a position determination unit for receiving the position information of the object relative to the unmanned boat, the type of the object, the size of the object, and the preset collision position of the object with the unmanned boat, and an orientation drive unit for storing and recording the position information of each unit buffer mechanism and directionally controlling the unit buffer mechanisms within the preset range area to perform buffer prevention operations.

[0011] Further, each unit buffer mechanism respectively includes a buffer cavity provided on the outer wall of the hull, a clamping groove preset on the edge of the buffer cavity opening, a buffer plate whose corresponding plate edge can be clamped and fitted into the clamping groove, at least two compression spring members respectively having one end movably connected to the bottom wall of the buffer cavity and the other end connected to the buffer plate, a rubber buffer pad laid on the corresponding plate wall of the buffer plate away from the bottom wall, a closing control mechanism for controlling the cooperation between the buffer plate and the clamping groove, at least two buffer airbag balls with partial envelopes fixed to the bottom wall of the cavity, at least one inflation hole respectively provided on the envelopes of the buffer airbag balls, an air inlet pipe partially embedded in the hull and having one end penetrating into the closing groove and communicating with the inflation hole of the buffer airbag ball and thus communicating with the buffer airbag ball, an air pump communicating with the air inlet pipe for inflating the buffer airbag ball, an air outlet hole provided on the buffer plate, a first electric control valve for respectively controlling the communication of the air outlet hole, and a second electric control valve provided in the air inlet pipe for controlling the communication between the air inlet pipe and the buffer airbag ball.

[0012] Further, the closing control mechanism includes a spring control unit fixedly connected to one end of the compression spring and controlling the compression state of the compression spring in the buffer cavity, and a closing control unit fixedly connected to the buffer plate and used for controlling the covering situation of the buffer plate on the notch of the buffer groove.

[0013] The beneficial effects achieved by the present invention are as follows:

[0014] 1. Through the cooperative operation of the directional camera and the recognition unit, the present invention realizes the recognition of the damage to the first sail body, and timely replaces the damaged first sail body through the replacement unit to ensure the normal navigation operation of the unmanned boat, effectively improving the safety during the operation of the unmanned boat.

[0015] 2. The present invention uses the buffer module to identify objects within a preset range of the unmanned boat, further identify the preset collision positions of the unmanned boat to obtain the positions of the unit buffer mechanisms for buffer operations, and directionally drive the corresponding unit buffer mechanisms to perform buffer preparation operations, so as to effectively buffer the impact force between the hull and the objects.

[0016] 3. The unit buffer mechanism of the present invention controls the inflation volume of the buffer airbag sphere and controls the movement of the compression spring relative to the buffer groove to buffer the impact of objects on the ship's hull and achieve the protection operation of the ship's hull. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention can be further understood from the following description in conjunction with the drawings. The components in the drawings are not necessarily drawn to scale, but the emphasis is placed on showing the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0018] Figure 1 It is a modular schematic diagram of the intelligent unmanned boat with self-repair function of the present invention.

[0019] Figure 2 It is a partial structural schematic diagram of the sail module of the present invention.

[0020] Figure 3 It is another partial structural schematic diagram of the sail module of the present invention.

[0021] Figure 4 It is a structural schematic diagram of the fixed clamping unit of the present invention.

[0022] Figure 5 It is a structural schematic diagram of the movable clamping unit of the present invention.

[0023] Figure 6 It is a structural schematic diagram of the replacement unit of the present invention.

[0024] Figure 7 It is a structural schematic diagram of the unit buffer mechanism of the present invention.

[0025] Description of the reference numerals in the drawings: 1 - clamping rod; 2 - closing cavity; 3 - support column; 4 - hull; 5 - rotating table; 6 - fixed seat; 7 - storage cylinder; 8 - recovery cavity; 9 - first sail body; 10 - electric telescopic rod; 11 - electric clamping assembly; 12 - moving block; 13 - power output shaft; 14 - bearing ring; 15 - recovery rod; 16 - mating block; 17 - fixing member; 18 - connecting rod; 19 - linear slide; 20 - storage opening; 21 - airbag member; 22 - linear groove; 23 - buffer plate; 24 - air outlet; 25 - compression spring member; 26 - clamping block; 27 - buffer airbag ball; 28 - engaging groove; 29 - locking member; 30 - locking rod; 31 - first slider; 32 - rotating motor; 33 - second slider; 34 - second moving channel; 35 - first moving channel; 36 - first electric telescopic member; 37 - intake pipe; 38 - buffer cavity. Detailed implementation manners

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with its embodiments; it should be noted that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present case. For those skilled in the art, after referring to the following detailed description, other systems, methods and / or features of this embodiment will become obvious. And the terms used to describe the positional relationship in the drawings are only for illustrative purposes and cannot be construed as a limitation on this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0027] Embodiment 1:

[0028] Combined with attached Figure 1 、 attached Figure 2 、 attached Figure 3 、 attached Figure 4 、 attached Figure 5 、 attached Figure 6 and attached Figure 7 , this embodiment constructs an intelligent unmanned boat with a self - repair function;

[0029] An intelligent unmanned boat with a self - repair function, the unmanned boat includes a hull, a power module that provides navigation power for the hull, an information transmission module through which the unmanned boat and a remote terminal mutually transmit information through communication technology, a power supply module that provides power for the power module, a solar panel disposed on the hull for converting solar energy to provide energy consumption and storing electric energy in the power supply module, a camera device for photographing the sea area conditions, and a return - voyage acquisition module that obtains the position information of the hull through a GPS positioning terminal and further plans a path to return to the base;

[0030] The intelligent unmanned boat further includes a buffer module for identifying foreign objects within a preset distance range of the boat body and directionally buffering the impact force on the foreign objects, and a sail module provided on the boat body with automatic extension adjustment and self-repair functions;

[0031] The sail module includes a rotating table provided on the top shell plate of the boat body, a fixed seat provided on the upper surface of the rotating table, a storage cylinder with a cylindrical structure and at least partially horizontally embedded in the fixed seat, a recovery cavity with a closed cavity structure provided inside the storage cylinder, a recovery rod horizontally and rotatably fixed in the recovery cavity through a bearing ring, a first reduction motor embedded in the storage cylinder and corresponding power output shaft penetrating into the recovery cavity to be connected and fixed with the recovery rod to drive the recovery rod to rotate in the recovery cavity, a storage port provided on the top wall of the storage cylinder and communicated with the recovery cavity, a support column vertically provided on the fixed seat through corresponding locking elements, a first sail body with the bottom extending into the recovery cavity through the storage port to be fixedly connected with the outer rod wall of the recovery rod and the top movably fixed on the outer column wall of the support column, a movable clamping unit for clamping and fixing the top of the first sail body and driving the top of the first sail body to move up and down relative to the support column, a directional camera for acquiring an image of the first sail body, an identification unit for receiving the image information of the directional camera and identifying the damage condition of the first sail body in the image through image analysis and processing technology, a replacement unit for automatically replacing a new second sail body when the first sail body is damaged, at least one fixed clamping unit horizontally fixed on the support column for clamping and fixing partial areas of the first sail body and / or the second sail body respectively, and a signal sending unit for sending the identification result of the identification unit to the replacement unit;

[0032] Wherein, the identification unit extracts the sail pattern of the first sail body image obtained by the directional camera, and judges and identifies the graphic features of notches and cracks on the sail pattern by graying, edge extraction and feature analysis of the first sail body image, so as to realize the monitoring and identification of the breakage condition of the first sail body;

[0033] The movable clamping unit includes a linear groove vertically provided on the outer column wall of the support column, a moving block at least partially movably limited in the linear groove, an electric telescopic rod installed inside the linear groove and used for driving the moving block to move up and down along the linear groove, and an electric clamping component fixedly connected with the moving block and at least partially located outside the linear groove for clamping and fixing the top of the first sail body, wherein the electric clamping component is an electric clamping claw of the prior art and will not be elaborated here;

[0034] The replacement unit includes a closed cavity disposed inside the support column, an upper bearing seat disposed on the top cavity wall of the closed cavity, a lower bearing seat disposed on the bottom cavity wall of the closed cavity and opposite to the upper bearing seat, a rotating rod rotatably fitted in the closed cavity with its top sleeved on the inner ring of the upper bearing seat and its bottom sleeved on the inner ring of the lower bearing seat, a second reduction motor embedded in the support column with its power output shaft penetrating into the closed cavity to be fixedly connected to the rotating rod so as to drive the rotating rod to rotate in the closed cavity, a second sail body adhesively fixed at one end to the rotating rod and wound around the rotating rod, a replacement port disposed on the outer column wall of the support column and communicated with the closed cavity, at least one linear slide table with at least part of its bottom embedded in the fixed seat, a moving block driven by the linear slide table to move linearly, a fitting block fitted in the receiving port and capable of moving along the receiving port, a connecting rod with one end fixed to the moving block and the other end fixed to the fitting block, and a fixing member fixed to the fitting block and clamping and fixing at least part of the area of the second sail body, wherein the fixing member is a clamping element of the prior art and will not be elaborated herein;

[0035] Wherein, taking the end where the second sail body is fixed to the rotating rod as the fixed end of the second sail body, and taking the other end of the second sail body opposite to its fixed end as the release end of the second sail body. When the second sail body is wound and stored on the rotating rod, the fitting block is driven to approach the replacement port, and the fixing member penetrates from the replacement port into the closed cavity. The second sail body is wound into a cylinder around the rotating rod, and the fixing member is arranged to clamp part of the release end of the second sail body. The connecting rod enables the linear slide table to synchronously drive the fitting block to move linearly along the receiving port. Furthermore, when the second reduction motor drives the rotating rod to release the second sail body, the linear slide table synchronously drives the second sail body to unfold onto the hull along the receiving port to realize the deployment and use of the second sail body;

[0036] Each of the fixed clamping units respectively includes two clamping rods respectively connected to the outer column wall of the support column and symmetrically arranged on both sides of the replacement port, a plurality of air bag members respectively and evenly laid on the opposite outer rod walls of the two clamping rods, air ducts partially embedded inside the clamping rods and with one end respectively protruding out of the clamping rods to be respectively communicated with the air bag members, an air inflation and deflation pump communicated with the air ducts for controlling the inflation and deflation of the air bag members, and rubber sheets laid on the outer bag walls of the air bag members. And in the same fixed clamping unit, one air bag member on one clamping rod is arranged opposite to one air bag member on the other clamping rod;

[0037] Through the recovery and winding of the first sail body by the recovery roller, the airbag of the fixed clamping unit is driven to the deflated state, and the first movable clamping unit synchronously moves downward along the support column to the storage opening and then releases the first sail body, so as to realize that the recovery roller orderly recovers the damaged first sail body into the recovery cavity;

[0038] Wherein, the distance between the two clamping rods of each group of the fixed clamping units is set to enable the lifting and passing-through cooperation of the moving block and the electric clamping assembly. And when the airbag is in the deflated state, the airbag contracts in sequence and adheres to the outer rod wall of the clamping rod. Correspondingly, the moving block and the electric clamping assembly can lift and pass through between the two clamping rods. When the airbag is in the inflated state with a preset working volume, the airbags arranged oppositely on the two clamping rods abut against each other to realize clamping and fixing of the first sail body and / or the second sail body unfolded between the two clamping rods. Wherein, the number of the clamping units is selected by those skilled in the art according to actual needs and is not limited herein;

[0039] In the present invention, through the cooperative operation of the directional camera and the recognition unit, the damage of the first sail body is recognized, and through the replacement unit, the damaged first sail body is replaced in time to ensure the normal navigation operation of the unmanned boat, effectively improving the safety during the operation of the unmanned boat.

[0040] Embodiment 2:

[0041] Combined with attached Figure 1 、attached Figure 2 、attached Figure 3 、attached Figure 4 、attached Figure 5 、attached Figure 6 and attached Figure 7 , in addition to including the content of the above embodiment, it also lies in:

[0042] At least part of the camera device is used to take images of the environment around the unmanned boat. The buffer module includes a unit buffer mechanism uniformly distributed on the outer wall of the hull of the unmanned boat for buffering the impact force of the hull, a sensor for sensing and recognizing objects within a preset range close to the unmanned boat, an image analysis unit for extracting the environmental image of the object taken by the shooting device and analyzing the environmental image to recognize the type and size of the object in the environmental image, a position determination unit for receiving the position information of the object relative to the unmanned boat, the type of the object, the size of the object, and the preset collision position of the object on the unmanned boat, and a directional driving unit for storing and recording the position information of each unit buffer mechanism and directionally controlling the unit buffer mechanism within a preset range area to perform buffer prevention operations;

[0043] Among them, the image analysis unit includes grayscaling, edge extraction, and feature analysis of the environmental image to obtain the color features, texture features, shape features, and spatial relationship features of the object. Further, according to historical experience, the color features, texture features, shape features, and spatial relationship features corresponding to different types of objects in different environmental images are obtained to match and identify the type of the object. Based on the graphic area of the object in the environmental image and the distance between the hull and the object detected by the sensor when the environmental image is acquired, the actual size of the object is further calculated, etc. These technical means are well-known technical means in the art, and those skilled in the art can query relevant technical manuals to know, so they will not be elaborated here one by one;

[0044] Each unit buffer mechanism respectively includes a buffer cavity arranged on the outer wall of the boat, a clamping groove preset on the edge of the cavity opening of the buffer cavity, a buffer plate whose corresponding plate edge can be clamped and fitted into the clamping groove, at least two compression spring members respectively having one end movably connected to the bottom wall of the buffer cavity and the other end connected to the buffer plate, a rubber buffer pad laid on the corresponding plate wall of the buffer plate away from the bottom wall, a closing control mechanism for controlling the cooperation between the buffer plate and the clamping groove, at least two buffer airbag balls with part of the bladder fixed to the bottom wall, at least one inflation hole respectively arranged on the bladder of the buffer airbag ball, an air inlet pipe partially embedded in the hull and having one end penetrating into the closing groove and communicating with the inflation hole of the buffer airbag ball and thus communicating with the buffer airbag ball, an air pump connected to the air inlet pipe to inflate the buffer airbag ball, an air outlet hole arranged on the buffer plate, a first electric control valve for respectively controlling the communication of the air outlet hole, and a second electric control valve arranged in the air inlet pipe to control the communication between the air inlet pipe and the buffer airbag ball;

[0045] Among them, one plate wall of the buffer plate opposite to the bottom wall is used as the fixed wall, and one plate wall of the buffer plate opposite to the fixed wall is used as the impact wall. The rubber buffer pad is arranged on the impact wall. The corresponding end of the compression spring movably fitted on the bottom wall is the movable end of the compression spring, and the corresponding end of the compression spring fixed on the buffer plate is the fixed end of the compression spring. The fixed end of the compression spring is connected to the fixed wall of the buffer plate;

[0046] The present invention identifies the objects within the preset range of the unmanned boat through the buffer module, further identifies the preset collision positions of the unmanned boat to obtain the positions of the unit buffer mechanisms for buffer operations, and directionally drives the corresponding unit buffer mechanisms to perform buffer preparation operations to effectively buffer the impact force between the hull and the object.

[0047] Embodiment Three: Combine the appendixFigure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 , Attachment Figure 5 , Attachment Figure 6 and attached Figure 7 , in addition to the contents of the above embodiments, also includes:

[0048] The closing control mechanism includes a spring control unit fixedly connected to one end of the compression spring and controlling the compression state of the compression spring in the buffer cavity, and a covering control unit fixedly connected to the buffer plate and used to control the covering state of the buffer plate on the notch of the buffer groove;

[0049] Specifically, the spring control unit includes at least two first moving channels respectively set from the groove bottom cavity recess of the buffer groove, a first slider that moves and fits into the first moving channel, a first electric telescopic member that is respectively fixed in the first moving channel through corresponding mounting seats and whose telescopic driving end is fixedly connected to the first slider to drive the slider to move relatively along the first moving channel, and a connecting element that fixes the movable end of the compression spring member to the first slider;

[0050] Specifically, the spring control unit is configured such that: when the first electric telescopic member is in a contracted state, the first slider drives the movable end of the compression spring from the cavity bottom wall into the first moving channel, and then the compression spring generates a traction force that drives the buffer plate to move toward the cavity bottom wall; on the contrary, when the first electric telescopic member is in an extended state, the first slider is matched to the cavity bottom wall, and the compression spring correspondingly drives the buffer plate to move toward the outside of the cavity opening;

[0051] The covering control unit includes at least two second moving channels respectively recessed from the groove bottom cavity of the buffer groove, a second slider that moves and fits into the second moving channel, a second electric telescopic member that is respectively fixed in the second moving channel through corresponding mounting seats and whose power driving end is fixedly connected to the second slider to drive the slider to move relatively along the second moving channel, a clamping block fixed on the fixed wall of the buffer plate, a matching cavity provided inside the clamping block, an extension port provided on the block wall of the clamping block and communicating with the matching cavity, a locking member that can penetrate the extension port and enter the matching cavity, a rotating motor embedded in the second slider and whose power output shaft extends from the second slider and extends toward the cavity port, and a locking rod that is fixedly connected to the power output shaft of the rotating motor at one end and is fixedly connected to the locking member at the other end;

[0052] Wherein the locking member is a block member that matches the shape of the insertion opening. The bottom wall of the cavity is disposed opposite to the opening of the buffer cavity. The buffer cavity is recessed toward the interior of the hull relative to the outer wall of the hull, thereby forming a corresponding open groove structure. The buffer airbag ball is a prior art, and the buffer airbag ball is an airbag member with elastic recovery ability in the prior art, which will not be elaborated herein;

[0053] The operation process of the cover control unit driving the buffer plate to cover the opening of the cavity includes: under the elongation operation of the second electrostrictive driving member, the locking member penetrates into the fitting cavity in cooperation with the shape of the insertion opening, and under the rotational driving of the rotary motor, the locking member is correspondingly limited inside the fitting cavity. Further, the second electrostrictive driving member contracts to drive the buffer plate to cover the opening of the cavity;

[0054] The process of the cover control unit controlling the locking member to leave the buffer plate includes: the rotary motor drives the locking member in the fitting cavity to rotate to be arranged in cooperation with the shape of the insertion opening. Further, under the contraction operation of the second electrostrictive driving member, the locking member is driven to leave the buffer plate and be received in the second moving channel, so that the buffer plate can move away from the opening of the cavity under the driving of the compression spring;

[0055] When the unit buffer mechanism does not perform buffer operation, the spring control unit controls the compression spring to generate a traction force that drives the buffer plate to move toward the bottom wall of the cavity. The cover control unit drives the buffer plate to cover the opening of the cavity. When the first and second electric control valves are in the closed state, the buffer plate is hermetically fitted to the engaging groove to close the opening of the buffer cavity;

[0056] When the unit buffer mechanism performs buffer preparation operation, the cover control unit controls the locking member to leave the buffer plate. The spring compression unit drives the buffer plate to move outside the opening of the cavity. The second electric control valve is opened, and the first electric control valve is closed. The air inflation pump inflates the buffer airbag ball to a preset operation volume. Further, the closing control mechanism correspondingly controls the buffer plate to move away from the engaging groove. And when the buffer airbag ball is at the preset operation volume, at least part of the outer bladder of the buffer airbag ball abuts and cooperates with the buffer plate;

[0057] When the unit buffer mechanism performs buffer operation, the first electric control valve is opened, and the second electric control valve is closed. The buffer plate collides with the impact object and moves into the open groove. The buffer spring performs a compression operation, and the buffer airbag ball deflates from the air outlet hole under the extrusion of the buffer plate, thereby effectively buffering the impact force received by the hull;

[0058] Furthermore, when the image analysis unit determines that there is an expected collision object within the preset distance range of the ship, the image analysis unit further obtains the volume size of the expected collision object and the expected collision area on the hull, and the orientation control device controls the unit buffer mechanism within the expected collision area range to perform buffer preparation operations, so as to effectively buffer the impact force during the collision between the hull and the expected collision object and reduce the damage to the hull;

[0059] The unit buffer mechanism of the present invention controls the inflation volume of the buffer airbag ball and the movement of the compression spring relative to the buffer groove to buffer the impact of an object on the hull and realize the protection operation of the hull.

[0060] Although the present invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the present invention. That is, the methods, systems, and devices discussed above are examples. Various configurations can be appropriately omitted, replaced, or various processes or components can be added. For example, in an alternative configuration, the method can be executed in a different order than the described order, and / or various components can be added, omitted, and / or combined. Moreover, the features described with respect to certain configurations can be combined in various other configurations, such as different aspects and elements of the configurations can be combined in a similar manner. In addition, as technology develops, the elements therein can be updated, that is, many elements are examples and do not limit the scope of the present disclosure or the claims. And it should be understood that after reading the content described in the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope defined by the claims of the present invention.

Claims

1. An intelligent unmanned boat with self-repair function, the unmanned boat includes a hull, a power module that provides navigation power for the hull, an information transmission module through which the unmanned boat and a remote terminal transmit information to each other via communication technology, a power supply module that provides power for the power module, a solar panel disposed on the hull for converting solar energy to provide energy consumption and storing electric energy in the power supply module, a camera device for photographing the sea area conditions, and a return voyage acquisition module that obtains the position information of the hull through a GPS positioning terminal and further plans the path to return to the base. It is characterized in that The intelligent unmanned boat further includes a buffer module that identifies foreign objects within a preset distance range of the hull and buffers the impact force on the foreign objects in a targeted manner, and a sail module disposed on the hull with automatic stretching adjustment and self-repair function. The sail module includes a rotating platform disposed on the top shell plate of the hull, a fixed seat disposed on the upper surface of the rotating platform, a storage cylinder with a cylindrical structure and at least partially horizontally embedded in the fixed seat, a recovery cavity with a closed cavity structure disposed inside the storage cylinder, a recovery rod horizontally and rotatably fixed in the recovery cavity through a bearing ring, a first reduction motor embedded in the storage cylinder and corresponding power output shaft penetrating into the recovery cavity to be connected and fixed with the recovery rod to drive the recovery rod to rotate in the recovery cavity, a storage port disposed on the top wall of the storage cylinder and communicated with the recovery cavity, a support column vertically disposed on the fixed seat through corresponding locking elements, a first sail body with the bottom extending into the recovery cavity through the storage port to be fixedly connected with the outer rod wall of the recovery rod and the top movably fixed on the outer column wall of the support column, a movable clamping unit that clamps and fixes the top of the first sail body and drives the top of the first sail body to move up and down relative to the support column, a directional camera for obtaining an image of the first sail body, an identification unit that receives the image information of the directional camera and identifies the damage condition of the first sail body in the image through image analysis and processing technology, a replacement unit that automatically replaces a new second sail body when the first sail body is damaged, at least one fixed clamping unit horizontally fixed on the support column to clamp and fix part of the area of the first sail body and / or the second sail body respectively, and a signal sending unit that sends the identification result of the identification unit to the replacement unit.

2. The intelligent unmanned boat according to claim 1, characterized in that, The buffer module includes a unit buffer mechanism uniformly distributed on the outer wall of the unmanned boat body for buffering the impact force of the boat body, a sensor for sensing and identifying objects within a preset range close to the unmanned boat, an image analysis unit for extracting the environmental image of the direction where the object is located in the shooting device and analyzing the environmental image to identify the type and size of the object in the environmental image, a position determination unit for receiving the position information of the object relative to the unmanned boat, the type of the object, the size of the object, and the preset collision position of the object with the unmanned boat, and an orientation drive unit for storing and recording the position information of each unit buffer mechanism and directionally controlling the unit buffer mechanism within the preset range area to perform buffer prevention operations.

3. The intelligent unmanned boat according to claim 2, wherein Each unit buffer mechanism respectively includes a buffer cavity provided on the outer wall of the boat, a clamping groove preset on the edge of the orifice of the buffer cavity, a buffer plate whose corresponding plate edge can be clamped and fitted into the clamping groove, at least two compression spring members respectively having one end movably connected to the bottom wall of the buffer cavity and the other end connected to the buffer plate, a rubber buffer pad laid on the corresponding plate wall of the buffer plate away from the bottom wall, a closing control mechanism for controlling the cooperation between the buffer plate and the clamping groove, at least two buffer airbag balls with partial bladder fixed to the bottom wall, at least one inflation hole respectively provided on the bladder of the buffer airbag ball, an air inlet pipe partially embedded in the boat body and having one end penetrating into the buffer cavity and communicating with the inflation hole of the buffer airbag ball and thus communicating with the buffer airbag ball, an air pump communicating with the air inlet pipe for filling gas into the buffer airbag ball, an air outlet hole provided on the buffer plate, a first electric control valve for respectively controlling the communication of the air outlet hole, and a second electric control valve provided in the air inlet pipe for controlling the communication between the air inlet pipe and the buffer airbag ball.

4. The intelligent unmanned boat according to claim 3, characterized in that, The closing control mechanism includes a spring control unit fixedly connected to one end of the compression spring and controlling the compression state of the compression spring in the buffer cavity, and a closing control unit fixedly connected to the buffer plate and used for controlling the covering situation of the buffer plate on the orifice of the buffer groove.

Images