Ice-penetrating detector capable of carrying AUV and method for deploying and recovering AUV

Abstract

An ice-penetrating probe capable of carrying an AUV comprises an ice-penetrating probe and an AUV, wherein the ice-penetrating probe comprises an ice anchor, a tail cabin, an AUV storage cabin for deploying and recovering the AUV from its side, a sensor cabin, and a hot-melt drill; an AUV storage cabin door with an upper and lower split structure is provided on the side of the AUV storage cabin, and a first pair of interfaces for docking and locking with the AUV is provided in the AUV storage cabin; a second pair of interfaces for docking with the first pair of interfaces is provided on the belly of the AUV, and the second pair of interfaces is a concave structure, and an underwater low-light camera for visually identifying the first pair of interfaces and guiding the AUV when docking is arranged on the top of the inner wall of the concave structure; a sensor cabin door capable of linear movement is provided on the side of the sensor cabin, and the sensor cabin door is fixed on the side of a sensor deployment linear motor, and the sensor deployment linear motor is connected to a push rod of a linear motor for driving the sensor cabin door to move linearly, and a connecting frame for installing a sensor group is connected to the push rod of the sensor deployment linear motor.

Description

Technical Field

[0001] The present invention belongs to the technical field of ice penetration detectors, and particularly relates to an ice penetration detector capable of carrying an AUV and a method for deploying and recovering the AUV. Background Art

[0002] Under the ice sheet thousands of meters thick in Antarctica, there are a large number of subglacial lakes. These subglacial lakes have been isolated from the outside world for a long time. Detecting subglacial lakes provides the possibility for studying the formation and evolution mechanism of the Antarctic ice sheet and life in extreme environments, and has great scientific significance. In the detection of subglacial lakes, it is not possible to first drill a hole to the subglacial lake and then deploy a detector through the existing ice hole, because in this way, exogenous substances will pollute the subglacial lake water, thus affecting the scientific value of subglacial lake detection. In order to avoid the pollution of subglacial lake water by exogenous substances, ice penetration detection can be carried out by drilling while freezing and thawing behind the detector.

[0003] In addition, for exoplanets with ice layers on their surfaces (such as Mars, Europa, Ganymede, Titan, etc.), there may be subglacial lakes or subglacial oceans under their thick ice layers. Detecting the subglacial waters of these planets requires a dedicated detector to be carried by the launched lander. For detectors in such application scenarios, it is best that they can penetrate the ice layer by themselves, and then can perform in-situ detection after reaching the subglacial waters. At the same time, they can also release an autonomous underwater vehicle (AUV) that can move autonomously for a larger range of detection.

[0004] In a paper, Germany reported an ice-penetrating probe called IceShuttleTeredo, which can carry an AUV to melt ice and drill. Because the ice-penetrating probe uses heat-melt drilling, the heat-melt drill must be placed at the top of the probe, so the AUV can only be stored in the middle of the ice-penetrating probe, and cannot be placed at the top. In addition, when the AUV is released, the acoustic sensor used for AUV navigation, positioning and communication must be able to extend to a position further forward than the heat-melt drill, so that the field of view of the acoustic sensor will not be blocked by the heat-melt drill of the probe. To solve this technical problem, the IceShuttleTeredo ice-penetrating detector stores the AUV in the middle of the detector. After penetrating the ice layer and reaching the sub-ice waters, the AUV is deployed using a triple deployment structure: first, the detection sensor cabin and the heat-melt drill are rotated 180° together through an eccentric disc joint to make way for the AUV to release. Then the AUV is released axially downward, and the AUV then turns to a horizontal position. After the AUV is released from the payload cabin, the heat-melt drill is rotated 180° separately through another eccentric disc joint to make way for the navigation and communication sensor group. Finally, the navigation and communication sensor group is pushed out of the sensor cabin axially downward, so that the acoustic sensor for navigation and communication is located at a more forward position than the heat-melt drill. When releasing the AUV, the IceShuttleTeredo ice-penetrating detector needs to eccentrically rotate the heat-melt drill in the inner cabin. Since the drill is generally heavy, the support strength and rotation torque requirements of the rotating joint are relatively high. In addition, the transmission cables required by the front hot melt drill and sensor cabin need to pass through the rotary joint. There are two existing technical solutions: one is to pass the cables directly, but when the rotary joint rotates, the cables will inevitably twist; the other is to use waterproof slip rings at the rotary joint to transmit power and signals. Both solutions will inevitably increase the complexity of the structure and reduce the reliability of the system. Summary of the invention

[0005] In response to the existing technical problems, the present invention provides an ice-penetrating probe that can carry an AUV and a method for deploying and recovering the AUV, which can carry the AUV to penetrate the ice layer. After penetrating the ice layer and reaching the subglacial waters (such as a subglacial lake or a subglacial ocean), the AUV can be released in a relatively simple way, avoiding the problem of rotating a heavy hot melt drill and the need for the transmission cable to pass through a rotating joint to increase the complexity of the structure and reduce the reliability of the system. In addition, the AUV can be charged and transmit data by docking, and the AUV can also be recovered autonomously.

[0006] The technical solution adopted by the present invention is:

[0007] An ice-penetrating probe that can carry an AUV, comprising an ice-penetrating probe and an AUV, characterized in that: the ice-penetrating probe comprises an ice anchor connected in sequence along the axial direction for fixing the ice-penetrating probe in an ice hole, a tail cabin provided with a cable receiver and an ice-penetrating probe control system, an AUV storage cabin for deploying and recovering the AUV from its side, a sensor cabin for placing various sensors and scientific payloads, and a hot melt drill for heating the ice layer for hot melt drilling;

[0008] The side of the AUV storage cabin is provided with an AUV storage cabin door with an upper and lower opening structure, and the AUV storage cabin is provided with a first pair of interfaces for docking and locking with the AUV; the belly of the AUV is provided with a second pair of interfaces for docking with the first pair of interfaces, and the second pair of interfaces is a concave structure, and the top of the inner wall of the concave structure is arranged with an underwater low-light camera for visually identifying the first pair of interfaces and guiding the AUV when docking;

[0009] A sensor cabin door that can move linearly is arranged on the side of the sensor cabin, and the sensor cabin door is fixed on the side of the sensor placement linear motor. The sensor placement linear motor is connected to a push rod of the sensor cabin door linear motor that drives it to move linearly, and a connecting frame for installing the sensor group is connected to the push rod of the sensor placement linear motor.

[0010] Furthermore, the first docking port is a protruding structure, which is adapted to the concave structure. A first annular coil is arranged on the outer wall of the protruding structure, and a second annular coil is arranged inside the wall of the concave structure. The first annular coil is energized to generate an electromagnetic field during docking to guide the AUV to dock.

[0011] Furthermore, an AUV locking mechanism is provided on the protruding structure of the first pair of interfaces. When the AUV enters a designated position, the AUV locking mechanism pops out to clamp the AUV so that the AUV is locked.

[0012] Furthermore, the AUV is provided with a plurality of high-brightness LED lights for underwater lighting around the second docking port, which can help the AUV find the first docking port on the AUV storage cabin.

[0013] Furthermore, the AUV is provided with five thrusters, including a tail thruster at the tail, two vertical thrusters at the front and rear, and two side thrusters at the front and rear. With the action of these five thrusters, the AUV can move with full freedom in space.

[0014] Further, the AUV storage hatch includes an upper hatch and a lower hatch. Hatch sliders are hinged to both the upper hatch and the lower hatch. A hatch push linear motor for moving each hatch slider to drive the corresponding hatch to translate is connected to each hatch slider. Both the upper hatch and the lower hatch are connected to a hatch flip linear motor for driving them to rotate and open the hatch.

[0015] Further, the maximum rotation angle of the upper hatch and the lower hatch exceeds 90°. When the upper hatch and the lower hatch are fully opened, a conical opening that can play a role in spatial guidance when the AUV docks with the ice-penetrating detector is formed in the vertical plane.

[0016] Further, the sensor group includes a USBL for docking navigation and communication within a few kilometers of the AUV from the detector, a sonobuoy for providing approximate azimuth information for the AUV within a farther range, and a CTD for measuring the temperature, conductivity, and depth of the water body.

[0017] For the above method of deploying and recovering the AUV with the ice-penetrating detector, after the ice-penetrating detector reaches the sub-ice water body, the specific steps for deploying the AUV are as follows:

[0018] (1) The ice anchor of the ice-penetrating detector operates to fix the ice-penetrating detector in the ice hole.

[0019] (2) The hatch push linear motors of the AUV storage hatch operate to push the upper and lower hatches outwards a certain distance to prepare for flipping and opening the hatches. At the same time, the sensor hatch linear motor operates to push out the sensor deployment linear motor, the sensor hatch, the connecting frame, and the sensor group fixed thereon.

[0020] (3) The hatch flip linear motors of the AUV storage hatch operate to flip and open the upper and lower hatches to prepare for releasing the AUV. At the same time, the sensor deployment linear motor operates to push the CTD, USBL, and sonobuoy to their working positions, and the sensors for AUV navigation, positioning, and communication are in place.

[0021] (4) The AUV locking mechanism of the first pair of interfaces of the AUV storage hatch retracts to release the lock on the AUV. The vertical thrusters on the AUV operate, and the AUV drives away from the ice-penetrating detector and gradually converts to a normal horizontal navigation working state.

[0022] Further, the specific steps for the AUV to dock and be recovered are as follows:

[0023] (1) The AUV enters the range of action of the USBL by searching for the sonobuoy signal of the ice-penetrating detector. Then, under the navigation of the USBL signal, it sails near the ice-penetrating detector and adjusts its own vertical attitude through five thrusters.

[0024] (2) The LED lighting on the AUV is turned on to illuminate the surrounding environment, providing a good working environment for the camera. The AUV autonomously locates the docking interface through the camera and slowly approaches the ice-piercing detector relying on five thrusters. When the AUV is close to the first docking interface of the AUV storage compartment, the first annular coil is energized to generate an electromagnetic field, providing an electromagnetic guidance signal for the AUV. At the same time, under the spatial guidance of the upper and lower hatch doors and the conical opening, the AUV completes the docking with the AUV storage compartment. When the AUV is docked in place, the AUV locking mechanism pops out to lock the AUV and the ice-piercing detector together. Then the LED lighting on the AUV stops working. At this time, the second annular coil and the first annular coil are closely attached together. Using the principle of electromagnetic coupling, the ice-piercing detector transmits electrical energy to the AUV through the coil for charging and conducts data communication relying on the built-in wireless transmission module. If the ice-piercing detector does not return, the AUV will continue to drive away after completing charging and data transmission to continue a new detection mission. If the ice-piercing detector needs to return, it enters step (3);

[0025] (3) The upper and lower hatch doors of the AUV storage compartment are closed;

[0026] (4) The sensor deployment linear motor works to retract the CTD, USBL, and acoustic beacon;

[0027] (5) The sensor compartment hatch linear motor works to retract the sensor deployment linear motor, the sensor compartment hatch, the connecting frame, and the sensor group fixed thereon to the initial installation position, and the sensor compartment hatch closes. Thus, the ice-piercing detector completes the preparations before returning and can return.

[0028] Advantages of the present invention:

[0029] 1. The AUV storage compartment of the present invention is arranged in the middle section of the ice-piercing detector, ensuring that the hot melt drill bit can be arranged at the top of the ice-piercing detector for ice melting and drilling.

[0030] 2. The way of pushing out the sensor group enables the acoustic sensors for AUV navigation positioning and communication on the ice-piercing detector to extend to a position more forward than the hot melt drill bit when the ice-piercing detector reaches the water area for work, so that the viewing angle of the acoustic sensors will not be blocked by the hot melt drill bit of the detector.

[0031] 3. In the present invention, releasing the AUV is achieved by opening the hatch on the side wall of the ice-piercing detector, without the need to rotate the heavy hot melt drill bit, reducing the torque requirement for the drive motor and the support strength requirement for the rotating pair.

[0032] 4. The internal cable of the ice-piercing detector does not need to pass through a rotating joint, which can avoid increasing the structural complexity by using measures such as waterproof slip rings, or can avoid cable torsion.

[0033] 5. After the two hatches of the AUV storage compartment are opened, the two hatches form a conical opening in the longitudinal vertical plane, which can play a role in spatial guidance when the AUV is docked with the ice penetration detector. Description of the Drawings

[0034] Figure 1 is a schematic three-dimensional structure diagram of the present invention.

[0035] Figure 2 is a schematic side view structure diagram of the present invention.

[0036] Figure 3 is a schematic cross-sectional structure diagram of the present invention.

[0037] Figure 4 is a schematic three-dimensional structure diagram after the hatches of the present invention are opened.

[0038] Figure 5 is a schematic side view structure diagram after the hatches of the present invention are opened.

[0039] Figure 6 is a schematic cross-sectional structure diagram after the hatches of the present invention are opened.

[0040] Figure 7 is a schematic three-dimensional structure diagram of the AUV of the present invention.

[0041] Figure 8 is a schematic front view structure diagram of the AUV of the present invention.

[0042] Figure 9 is a schematic cross-sectional structure diagram of the AUV of the present invention.

[0043] Figure 10 is a schematic structure diagram at the AUV storage compartment of the present invention.

[0044] Figure 11 is a schematic cross-sectional structure diagram of the first pair of interfaces at the AUV storage compartment of the present invention.

[0045] Figure 12 is a schematic front view structure diagram of the first pair of interfaces at the AUV storage compartment of the present invention.

[0046] Figure 13 is a schematic front view structure diagram at the sensor compartment of the present invention.

[0047] Figure 14 is a schematic cross-sectional structure diagram at the sensor compartment of the present invention.

[0048] Figure 15 is a schematic diagram of the process of deploying the AUV of the present invention.

[0049] Figure 16 is a schematic diagram of the process of recovering the AUV of the present invention. Detailed implementation manners

[0050] The present invention will be further described below in conjunction with specific embodiments, but the present invention is not limited to these specific implementation manners. Those skilled in the art should recognize that the present invention covers all alternative solutions, improvement solutions, and equivalent solutions that may be included within the scope of the claims.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

[0052] In the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0054] Related terms

[0055] AUV: Autonomous Underwater Vehicle

[0056] USBL: Ultrashort Baseline

[0057] CTD: Conductivity, Temperature, Depth recorder

[0058] Example 1

[0059] See Figure 1-3 , this embodiment provides an ice-penetrating detector capable of carrying an AUV, including an ice-penetrating detector 1 and an AUV 2. The ice-penetrating detector 1 includes an ice anchor 11 for fixing the ice-penetrating detector 1 in an ice hole, which are connected in sequence along the axis, a tail cabin 12 provided with a cable storage device and an ice-penetrating detector control system, an AUV storage cabin 13 for deploying and recovering the AUV from its side, a sensor cabin 14 for placing various sensors and scientific payloads, and a thermal melting drill bit 15 for heating the ice layer for thermal melting drilling. Figure 4-6 This is the fully deployed state of the ice-penetrating detector.

[0060] See Figure 7-9 , the AUV 2 in this embodiment is provided with 3 groups of 5 thrusters in total, including a tail thruster 24 located at the tail, 2 vertical thrusters 25 located at the front and rear, and 2 lateral thrusters 26 located at the front and rear. Under the action of these 5 thrusters, the AUV 2 can achieve full-degree-of-freedom movement in space. The AUV 2 is provided with a second pair of interfaces 21 on its abdomen. The second pair of interfaces 21 is a concave structure, and the outer shape of the concave structure is a concave frustum. A low-light underwater camera 22 is arranged at the top of the frustum for visual recognition of the first pair of interfaces on the AUV storage cabin 13 of the ice-penetrating detector and for guiding during AUV docking; a second annular coil 27 is arranged inside the frustum wall. After docking, the second annular coil 27 receives electrical energy transmitted from the energized coil of the AUV storage cabin 13 through electromagnetic coupling to charge the AUV. There are four high-brightness LED lights around the second pair of interfaces 21 for underwater lighting to help the AUV 2 find the first pair of interfaces on the AUV storage cabin 13.

[0061] See Figure 10The side of the AUV storage cabin 13 of this embodiment is provided with an AUV storage cabin door of an upper and lower opening structure, and the AUV storage cabin door includes an upper cabin door 131 and a lower cabin door 132, and the upper cabin door 131 and the lower cabin door 132 are both hinged with a cabin door slider 136, and each of the cabin door sliders 136 is connected to a cabin door push-out linear motor 135 that drives the corresponding cabin door to move, and the upper cabin door 131 and the lower cabin door 132 are both connected to a cabin door flipping linear motor 133 that drives them to rotate and open the door. The maximum rotation angle of the upper cabin door 131 and the lower cabin door 132 exceeds 90°. When the upper cabin door 131 and the lower cabin door 132 are fully opened, a conical opening is formed on the longitudinal plane, which can play a role in spatial guidance when the AUV2 docks with the ice-penetrating probe 1. Specifically, the opening and closing of the AUV storage cabin door are completed by two sets of cabin door driving devices that are symmetrical up and down. A hatch push-out linear motor 135 is provided above and below the cabin, and the push rod end of the hatch push-out linear motor 135 is connected to the hatch slider 136. The hatch slider 136 and the cabin are connected by a hinge so that the cabin can rotate around the hinge. After the hatch push-out linear motor 135 is actuated, it will push the hatch slider 136 to translate outward, so that the cabin translates outward, which can avoid interference with the detector shell when the cabin rotates, and prepare for the rotation of the cabin. A hatch flip linear motor 133 is provided above and below the cabin, and one end of the hatch flip linear motor 133 is hinged to the inner wall of the AUV storage cabin 13, and its push rod end is connected to the cabin through a hinge. After the hatch push-out linear motor 135 pushes the cabin outward for a certain distance, the cabin can be rotated by the movement of the cabin rotation linear motor 133, and the maximum rotation angle of the cabin exceeds 90°. When the upper and lower doors of the AUV storage cabin 13 are fully opened, the AUV2 can be released from the AUV storage cabin 13. In addition, the two opened doors form a conical opening on the longitudinal plane, which can play a role in space guidance when the AUV docks with the ice-penetrating probe.

[0062] See also Figure 11 , Figure 12 In this embodiment, the middle part of the AUV storage cabin 13 is provided with a first docking port 134 for docking and locking with the AUV2; the first docking port 134 is a protruding structure, which is adapted to the concave structure, and the outer wall of the protruding structure is arranged with a first annular coil 137, which is energized to generate an electromagnetic field during docking, and is used to guide the AUV2 to dock, and can also charge the AUV2 through electromagnetic coupling after docking. The protruding structure of the first docking port 134 is provided with an AUV locking mechanism 138, and when the AUV2 enters the designated position, the AUV locking mechanism 138 will pop out and clamp the AUV2 so that the AUV2 is locked.

[0063] See also Figure 13 , Figure 14, on the side of the sensor cabin 14 in this embodiment, there is a sensor cabin door 141 that can move linearly. The sensor cabin door 141 is fixed to the side of the sensor deployment linear motor 142. The sensor deployment linear motor 142 is connected to the push rod of the sensor cabin door linear motor 147 that drives its linear movement. A connecting frame 144 for installing the sensor group is connected to the push rod of the sensor deployment linear motor 142. The sensor group includes a USBL 146 for docking navigation and communication within a few kilometers of the detector for the AUV 2, a sound beacon 145 for providing approximate azimuth information for the AUV 2 within a farther distance range, and a CTD 143 for measuring the temperature, conductivity, and depth of the water body. Specifically, when the sensor cabin door linear motor 147 works, it pushes out the sensor deployment linear motor 142, and together with it, the sensor cabin door 141, the connecting frame 144, and the sensor group fixed thereon are all pushed out. After the push rod of the sensor cabin door linear motor 147 reaches the position, the sensor deployment linear motor 142 works, and the connecting frame 144 and the sensor group fixed thereon are pushed out together. After the push rod of the sensor deployment linear motor 142 reaches the position, the sensor deployment linear motor 142 stops working, and the sensor deployment is in place. At this time, the USBL 147 is located at the frontmost position of the detector and can be used for docking navigation and communication within a few kilometers of the AUV from the detector; the sound beacon 145 provides approximate azimuth information for the AUV within a farther distance range. Because the sound wave frequency of the sound beacon is lower, even if it is blocked a little by the USBL 146, its blocking effect can be ignored; the CTD 143 is used to measure the temperature, conductivity, and depth of the water body. These parameters are not only important physical parameters of the water body but also can be used to calibrate the propagation speed of sound waves in water, thereby improving the accuracy of acoustic sensors.

[0064] The AUV storage cabin of the present invention is arranged in the middle section of the ice-piercing detector, ensuring that the hot-melt drill bit can be arranged at the topmost end of the ice-piercing detector for ice melting and drilling. The way of pushing out the sensor group enables the acoustic sensors for AUV navigation, positioning, and communication to extend to a position in front of the heat-melting drill bit when the ice-piercing detector reaches the water area for work, so that the viewing angle of the acoustic sensors will not be blocked by the heat-melting drill bit of the detector. In the present invention, releasing the AUV is achieved by opening the cabin door on the side wall of the ice-piercing detector, without the need to rotate the heavy heat-melting drill bit, reducing the torque requirements for the driving motor and the support strength requirements for the rotating pair. The internal cable of the ice-piercing detector does not need to pass through a rotating joint, which can avoid increasing the structural complexity by using measures such as waterproof slip rings, or can avoid cable torsion. After the two cabin doors of the AUV storage cabin are opened, the two cabin doors form a conical opening in the vertical plane, and this conical opening can play a role in spatial guidance when the AUV is docked with the ice-piercing detector.

[0065] Embodiment 2

[0066] This embodiment provides the method for deploying and recovering the AUV with the ice-penetrating detector described in Embodiment 1. After the ice-penetrating detector 1 reaches the sub-ice water body, the process of deploying the AUV and starting its operation is as Figure 15 shown. The specific steps are as follows:

[0067] (1) The ice anchor 11 of the ice-penetrating detector 1 acts to fix the ice-penetrating detector 1 in the ice hole;

[0068] (2) The door push-out linear motor 135 of the AUV storage compartment 13 operates to push the upper and lower doors outwards by a certain distance to prepare for flipping open the doors. At the same time, the sensor compartment door linear motor 147 operates to push out the sensor deployment linear motor 142, the sensor compartment door 141, the connecting frame 144, and the sensor group fixed thereon;

[0069] (3) The door flipping linear motor 133 of the AUV storage compartment 13 operates to flip open the upper and lower doors to prepare for releasing the AUV 2. At the same time, the sensor deployment linear motor 142 operates to push the CTD 143, the USBL 146, and the acoustic beacon 145 to their working positions, and the sensors for AUV navigation, positioning, and communication are in place;

[0070] (4) The AUV locking mechanism 138 of the first pair of interfaces 134 of the AUV storage compartment 13 retracts to release the lock on the AUV 2. The vertical thrusters 25 on the AUV 2 operate, and the AUV 2 sails away from the ice-penetrating detector and gradually converts to the normal horizontal navigation working state.

[0071] The process of the AUV 2 docking and recovering in this embodiment is as Figure 16 shown. The specific steps are as follows:

[0072] (1) The AUV 2 enters the effective range of the USBL 146 by searching for the acoustic beacon signal of the ice-penetrating detector 1. Then, under the navigation of the USBL signal, it sails near the ice-penetrating detector 1 and adjusts its own vertical attitude through five thrusters;

[0073] (2) The LED lighting 23 on AUV2 is turned on to illuminate the surrounding environment and provide a good working environment for the camera 22. AUV2 autonomously searches for the docking port through the camera 22 and slowly approaches the ice-penetrating probe 1 by relying on the five thrusters. When AUV2 is close to the first docking port 134 of the AUV storage cabin 13, the first annular coil 137 is energized to generate an electromagnetic field to provide an electromagnetic guidance signal for AUV2. At the same time, under the spatial guidance of the upper and lower hatches and the conical opening, AUV2 completes the docking with the AUV storage cabin 13. When AUV2 is docked in place, the AUV locks The fixing mechanism 138 pops up, locking the AUV2 and the ice-penetrating detector 1 together, and then the LED lighting lamp 23 on the AUV2 stops working. At this time, the second annular coil 27 and the first annular coil 137 are tightly fitted together. By using the principle of electromagnetic coupling, the ice-penetrating detector 1 transmits electrical energy to the AUV2 through the coil for charging, and relies on the built-in wireless transmission module for data communication; if the ice-penetrating detector 1 does not return, the AUV2 will continue to drive away and continue the new detection task after completing the charging and data transmission; if the ice-penetrating detector 1 needs to return, go to step (3);

[0074] (3) The upper and lower doors of the AUV storage cabin 13 are closed;

[0075] (4) The sensor deployment linear motor 142 operates to retract the CTD 143 , USBL 146 , and acoustic beacon 145 ;

[0076] (5) The sensor cabin door linear motor 147 starts working, and the sensor placement linear motor 142, the sensor cabin door 141, the connecting frame 144 and the sensor group fixed thereon are retracted to the initial installation position, and the sensor cabin door 141 is closed. At this point, the ice-penetrating probe 1 completes the preparation work before returning and can return.

Claims

1. A sub-ice detector capable of carrying an AUV, comprising a sub-ice detector and an AUV, Characterized in that: The sub-ice detector includes an ice anchor for fixing the sub-ice detector in an ice hole, a tail cabin provided with a cable storage and a sub-ice detector control system, an AUV storage cabin for deploying and recovering the AUV from its side, a sensor cabin for placing various sensors and scientific payloads, and a thermal melting drill bit for heating the ice layer for thermal melting drilling, which are connected in sequence along the axis; The side of the AUV storage cabin is provided with an AUV storage cabin door with an upper and lower split structure, and the AUV storage cabin is provided with a first docking interface for docking and locking with the AUV; the abdomen of the AUV is provided with a second docking interface for docking with the first docking interface, the second docking interface is a concave structure, and an underwater low-light camera for visually identifying the first docking interface and guiding during AUV docking is arranged at the top of the inner wall of the concave structure; The side of the sensor cabin is provided with a sensor cabin door that can move linearly, the sensor cabin door is fixed to the side of the sensor deployment linear motor, the sensor deployment linear motor is connected to the push rod of the sensor cabin door linear motor that drives its linear movement, and a connecting frame for installing a sensor group is connected to the push rod of the sensor deployment linear motor; The first docking interface is a convex structure, which is adapted to the concave structure, a first annular coil is arranged on the outer wall of the convex structure, and a second annular coil is arranged in the wall of the concave structure. The first annular coil generates an electromagnetic field when energized during docking to guide the AUV to dock; An AUV locking mechanism is provided on the convex structure of the first docking interface. When the AUV enters the designated position, the AUV locking mechanism will pop out to lock the AUV; There are 5 thrusters on the AUV, including a tail thruster at the tail, 2 vertical thrusters at the front and rear, and 2 side thrusters at the front and rear; The AUV storage cabin door includes an upper cabin door and a lower cabin door. The upper cabin door and the lower cabin door are both hinged with cabin door sliders, and each cabin door slider is connected to a cabin door push-out linear motor that drives its movement to drive the corresponding cabin door to translate. The upper cabin door and the lower cabin door are both connected to a cabin door flipping linear motor that drives its rotation to open the door; The maximum rotation angle of the upper cabin door and the lower cabin door exceeds 90°. When the upper cabin door and the lower cabin door are fully opened, a conical opening is formed in the longitudinal vertical plane, which can play a role in spatial guidance when the AUV docks with the sub-ice detector.

2. A sub-ice detector capable of carrying an AUV according to claim 1, Characterized in that: Several high-brightness LED lights for underwater lighting are provided around the second docking interface of the AUV.

3. A sub-ice detector capable of carrying an AUV according to claim 1, Characterized in that: The sensor group includes a USBL for docking navigation and communication within a few kilometers of the AUV from the detector, a sonobuoy for providing approximate azimuth information for the AUV within a farther range, and a CTD for measuring the temperature, conductivity and depth of the water body.

4. A method for deploying and recovering an AUV by a sub-ice detector capable of carrying an AUV as claimed in claim 1. After the sub-ice detector reaches the sub-ice water body, the specific steps for deploying the AUV are as follows: (1) The ice anchor of the sub-ice detector operates to fix the sub-ice detector in the ice hole; (2) The linear motors for pushing out the hatches of the AUV storage compartment operate to push the upper and lower hatches outwards by a certain distance to prepare for flipping and opening the hatches. At the same time, the linear motor of the sensor compartment hatch operates to push out the sensor deployment linear motor, the sensor compartment hatch, the connecting frame and the sensor group fixed thereon; (3) The linear motor for flipping the hatches of the AUV storage compartment operates to flip and open the upper and lower hatches to prepare for releasing the AUV. At the same time, the sensor deployment linear motor operates to push the CTD, USBL and acoustic beacon to the working positions, and the sensors for AUV navigation, positioning and communication are in place; (4) The AUV locking mechanism of the first pair of interfaces of the AUV storage compartment retracts to release the lock on the AUV. The vertical thrusters on the AUV operate, and the AUV sails away from the sub-ice detector and gradually converts to the normal horizontal navigation working state.

5. The method for deploying and recovering an AUV as claimed in claim 4. The specific steps for the AUV to dock and be recovered are as follows: (1) The AUV enters the action range of the USBL by searching for the acoustic beacon signal of the sub-ice detector. Then, under the navigation of the USBL signal, it sails to the vicinity of the sub-ice detector and adjusts its own attitude to be vertical through five thrusters; (2) The LED lighting lamp on the AUV is turned on to illuminate the surrounding environment to provide a good working environment for the camera. The AUV autonomously searches for the docking interface through the camera and slowly approaches the sub-ice detector relying on five thrusters. When the AUV is close to the first pair of interfaces of the AUV storage compartment, the first ring coil is energized to generate an electromagnetic field to provide an electromagnetic guiding signal for the AUV. At the same time, under the spatial guidance of the upper and lower hatches and the conical opening, the AUV completes the docking with the AUV storage compartment. When the AUV is docked in place, the AUV locking mechanism pops out to lock the AUV and the sub-ice detector together. Then the LED lighting lamp on the AUV stops working. At this time, the second ring coil and the first ring coil are closely attached together. Using the principle of electromagnetic coupling, the sub-ice detector transmits electric energy to the AUV through the coil for charging and conducts data communication relying on the built-in wireless transmission module; if the sub-ice detector does not return, the AUV will continue to sail away to continue a new detection task after completing charging and data transmission; if the sub-ice detector needs to return, go to step (3); (3) The upper and lower hatches of the AUV storage compartment are closed; (4) The sensor deployment linear motor operates to retract the CTD, USBL and acoustic beacon; (5) The linear motor of the sensor compartment hatch operates to retract the sensor deployment linear motor, the sensor compartment hatch, the connecting frame and the sensor group fixed thereon to the initial installation position, and the sensor compartment hatch is closed; thus, the sub-ice detector completes the preparations before returning and can return.

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