Loadable AUV Ice Penetrator Applicable to Subglacial Water Exploration in Antarctica and Outer Planets

Abstract

The loadable AUV is applicable to an ice-piercing detector for detecting subglacial waters in Antarctica and extraterrestrial planets, including an ice-piercing detector and an AUV. The ice-piercing detector includes an ice anchor, a tail cabin, and an AUV storage cabin that are fixedly connected in sequence along the axis. A thermal melting drill bit is eccentrically rotatably connected to the end of the AUV storage cabin. An AUV winch system is installed in the AUV storage cabin. The end of the cable of the AUV winch system is connected to a lifting and docking system. The lifting and docking system includes a limit disk. A cable connector is fixed to the upper end face of the limit disk. A sensor group is installed on the lower end face of the limit disk. A connecting rod is also installed on the lower end face of the limit disk. A docking head for docking with the AUV is provided at the end of the connecting rod. An AUV locking mechanism for locking the AUV to the connecting rod is provided on the docking head. The AUV is loaded into the AUV storage cabin along the axis of the AUV storage cabin. A docking port for docking with the docking head is provided at the head of the AUV. A first USBL for guiding the AUV close to the ice-piercing detector is installed at the top inside the docking port.

Description

Technical Field

[0001] The present invention belongs to the technical field of ice penetration detectors, and particularly relates to an ice penetration detector that can be loaded on an AUV and is applicable to the detection of subglacial waters in Antarctica and extraterrestrial planets. Background Art

[0002] Beneath the Antarctic ice sheet that is thousands of meters thick, 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 extraterrestrial planets with ice layers on their surfaces (such as Mars, Europa, Ganymede, Titan, etc.), there may be subglacial lakes or subglacial oceans beneath their thick ice layers. Detecting the subglacial waters of these planets requires a dedicated detector to be carried by a launched lander. For detectors in such application scenarios, it is best to be able to penetrate the ice layer by itself, and then be able to perform in-situ detection after reaching the subglacial waters. At the same time, it can also release an autonomous underwater vehicle (AUV) that can move independently to conduct a larger range of detection.

[0004] Germany reported an ice-penetrating probe called IceShuttle Teredo in a paper. The probe 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 IceShuttle Teredo ice-penetrating detector stores the AUV in the middle of the detector. After penetrating the ice layer and reaching the sub-ice waters, a triple deployment structure is used to deploy the AUV: 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. This solution requires the detection sensor cabin and the heat-melt drill to be rotated eccentrically at the same time. Since the drill is generally heavy, and the weight is even heavier after the detection sensor cabin is added, the support strength and rotation torque requirements of the rotating joint are relatively high. In addition, in addition to releasing the AUV, this solution also requires a separate sensor deployment mechanism to realize the deployment of the sensor group for navigation and communication, which increases the complexity of the structure and the deployment workflow. Summary of the invention

[0005] In response to the existing technical problems, the present invention provides an ice-penetrating probe that can be loaded with an AUV and is suitable for detecting subglacial waters in Antarctica and other planets. The probe 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 an ocean under the ice), the AUV can be released in a relatively simple way, avoiding the combination of the two modules of the rotating detection sensor cabin and the hot melt drill bit, while reducing the number of mechanisms required for the deployment action and simplifying the deployment workflow. In addition, the AUV can be charged and transmitted by docking, and the AUV can also be recovered autonomously.

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

[0007] The loadable AUV applicable to ice-penetrating detectors for Antarctic and extraterrestrial subglacial water area exploration includes an ice-penetrating detector and an AUV, and is characterized in that: the ice-penetrating detector includes an ice anchor for fixing the ice-penetrating detector in an ice hole, a tail cabin provided with a cable storage device and an ice-penetrating detector control system, and an AUV storage cabin for loading the AUV, which are fixedly connected in sequence along the axis; an ice melting drill bit for heating the ice layer for thermal melting drilling is eccentrically rotatably connected to the end of the AUV storage cabin;

[0008] An AUV winch system is installed in the AUV storage cabin. The cable end of the AUV winch system is connected to a lifting and docking system. The lifting and docking system includes a limit disc. A cable connector is fixed on the upper end surface of the limit disc. A sensor group is installed on the lower end surface of the limit disc. A connecting rod that can rotate between a horizontal position and a vertical position is also installed on the lower end surface of the limit disc. A docking head for docking with the AUV is provided at the end of the connecting rod. An AUV locking mechanism for locking the AUV on the connecting rod is provided on the docking head. A moving guiding structure for positioning and protecting the AUV during the movement of the AUV in the AUV storage cabin is provided between the limit disc and the AUV storage cabin;

[0009] The AUV is loaded in the AUV storage cabin along the axis of the AUV storage cabin. A docking interface for docking with the docking head is provided at the head of the AUV. A first USBL for guiding the AUV to approach the ice-penetrating detector is installed at the top of the inner part of the docking interface.

[0010] Furthermore, the docking head is a conical docking head. A first annular coil and a first iron core are arranged on the outer wall of the frustum. The docking interface is a concave frustum. A second annular coil and a second iron core are arranged in the wall of the concave frustum. The first annular coil and the second annular coil are energized to generate a magnetic field during docking and attract each other under the action of electromagnetic force to assist in guiding the docking of the AUV.

[0011] Furthermore, a tail vector thruster for realizing conventional movement and control in space is installed at the tail of the AUV. A sonar for cooperating with a sound beacon to identify the approximate orientation of the ice-penetrating detector is provided at the front of the AUV.

[0012] Furthermore, the AUV storage cabin is rotationally connected to the ice melting drill bit through an ice melting drill bit rotating motor. The ice melting drill bit rotating motor is fixed on the wall of the AUV storage cabin. Its rotating shaft is located at an eccentric position on the cross-sectional circle. The rotating shaft of the ice melting drill bit rotating motor is connected to the ice melting drill bit through a coupling to drive the ice melting drill bit to rotate eccentrically.

[0013] Further, the AUV winch system includes a winch base, on which a winch drive motor and a support base are fixed. A reel for releasing and storing the cable is rotatably connected to the support base, and the reel is connected to the winch drive motor driving its rotation through a coupling. There is a cable through-hole at the center of the winch base, and the end of the cable passes through the cable through-hole and is connected to the lifting and docking system.

[0014] Further, the sensor group includes a second USBL for undocking navigation and communication within several kilometers of the AUV detector, a sonobuoy for providing approximate azimuth information for the AUV within a farther distance range, and a CTD for measuring the temperature, conductivity, and depth of the water body. The second USBL and the sonobuoy are fixedly connected to the limit disc through mounting blocks that raise their mounting heights, and the CTD is fixedly connected to the limit disc.

[0015] Further, the connecting rod is connected to the AUV rotation motor that drives its rotation, and the AUV rotation motor is fixed on the limit disc.

[0016] Further, the moving guiding structure includes a plurality of lifting guiding rails and a plurality of guiding hole seats. The lifting guiding rails are arranged on the inner wall of the AUV storage cabin, the guiding hole seats are arranged on the upper end surface of the limit disc, guiding holes are provided at the positions of the limit disc where the guiding hole seats are arranged, and the guiding hole seats correspond to the lifting guiding rails one by one and form a moving pair.

[0017] Further, the specific steps for deploying the AUV are as follows:

[0018] (1) The ice anchor of the ice penetration detector acts to fix the ice penetration detector in the ice hole.

[0019] (2) The hot melt drill rotation motor of the AUV storage cabin works to rotate the hot melt drill clockwise by 180° to create a lowering passage for the winch to lower the AUV.

[0020] (3) The winch drive motor in the AUV winch system works to release the cable. Under the action of its own weight, the limit disc and all components connected thereto are smoothly lowered under the guiding action of the lifting guiding rails, preparing for the AUV rotation motor to rotate the AUV. After the limit disc arrives at the position, the second USBL, CTD, and sonobuoy are also deployed in place. At this time, the second USBL and the sonobuoy are located at a position more forward than the hot melt drill.

[0021] (4) The AUV rotation motor works to rotate counterclockwise by 90° to rotate the AUV from the vertical state to the horizontal state.

[0022] (5) The AUV locking mechanism is unlocked, and the tail vector thruster of the AUV works, and the AUV drives away from the ice penetration detector and starts to detect the underwater area of the ice.

[0023] Furthermore, the specific steps for the AUV to dock and be recovered are as follows:

[0024] (1) The AUV enters the effective range of the second USBL by searching for the acoustic beacon signal of the ice penetration detector, and then sails near the docking head under the navigation of the USBL signal;

[0025] (2) The coils at the docking head and the docking interface of the AUV are energized, and the two are attracted to each other under the action of electromagnetic force and finally engaged. After engagement, the AUV locking mechanism works to lock the AUV. Then, the second toroidal coil on the AUV is de-energized, and the first toroidal coil of the docking head is energized with alternating current. Using the principle of electromagnetic coupling, the ice penetration detector transmits electrical energy to the AUV through the coupling coil and conducts data communication relying on the built-in wireless transmission module. If the AUV is only returning for charging, it can continue to leave the ice penetration detector to start a new detection task after being fully charged. If the ice penetration detector needs to recover the AUV, go to step (3).

[0026] (3) The AUV rotation motor works and rotates clockwise by 90°, rotating the AUV from the horizontal state to the vertical state;

[0027] (4) The winch drive motor in the AUV winch system works to lift the cable. Under the action of the cable tension, the limit disc and all components connected thereto move smoothly upward under the guiding action of the lifting guide rail. After the limit disc arrives, the second USBL, CTD, and acoustic beacon are recovered together with the AUV in place;

[0028] (5) The hot melt drill rotation motor in the AUV storage compartment works to rotate the hot melt drill counterclockwise by 180°, and the hot melt drill returns to the initial position. The ice penetration detector releases the ice anchor and is ready to recover and return to the ice surface.

[0029] Advantages of the present invention:

[0030] 1. When releasing and recovering the AUV in the present invention, only the hot melt drill needs to be rotated alone to make a passage for the AUV, without rotating the combination of the detection sensor cabin and the hot melt drill, reducing the requirements for the support strength and torque of the rotating joint.

[0031] 2. When lowering the AUV in the present invention, the navigation and positioning and communication sensors can be arranged simultaneously, without separately setting up a mechanism for the sensor deployment link, reducing the number of mechanisms required for the deployment action, simplifying the deployment work process, reducing the complexity of the system mechanism, and improving the system reliability to a certain extent.

[0032] 3. The conical docking interface design with an energized coil and an iron core. When the coil is energized, it generates an electromagnetic force, and using the guiding effect of the cone, the AUV and the ice penetration detector can align themselves under the action of the electromagnetic force, and then the AUV locking mechanism locks the AUV. This design is simpler in structure compared to the traditional docking method. After docking, the ice penetration detector can also transmit electrical energy to the AUV through the coil using the principle of electromagnetic coupling, eliminating the need for a separate charging device.

[0033] 4. The deployment method using a winch and a guide rail is simple and reliable in the deployment mechanism. Brief Description of the Drawings

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

[0035] Figure 2 It is a front view structural schematic diagram of the AUV of the present invention.

[0036] Figure 3 It is a sectional view structural schematic diagram of the AUV of the present invention.

[0037] Figure 4 It is a three-dimensional structural schematic diagram of the present invention.

[0038] Figure 5 It is a side view structural schematic diagram of the present invention.

[0039] Figure 6 It is a sectional view structural schematic diagram of the present invention.

[0040] Figure 7 It is an expanded sectional view structural schematic diagram of the present invention.

[0041] Figure 8 It is a structural schematic diagram of the AUV storage winch system of the present invention.

[0042] Figure 9 It is a three-dimensional structural schematic diagram of the lifting and docking system of the present invention.

[0043] Figure 10 It is a front view structural schematic diagram of the lifting and docking system of the present invention.

[0044] Figure 11 It is a side view structural schematic diagram of the lifting and docking system of the present invention.

[0045] Figure 12 It is a schematic diagram of the deployment and recovery process of the AUV of the present invention. Detailed Description of the Invention

[0046] The present invention will be further described below in conjunction with specific embodiments, but the present invention is not limited to these specific embodiments. 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.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "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. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it 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 construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, 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 "plurality" is two or more, unless otherwise clearly defined.

[0048] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed 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.

[0049] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" 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 between them. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0050] Related terms

[0051] AUV: Autonomous Underwater Vehicle (AUV)

[0052] USBL: Ultrashort Baseline, i.e., Ultrashort Baseline positioning

[0053] CTD: Conductivity, Temperature, Depth recorder, i.e., CTD

[0054] This embodiment provides an ice-piercing detector that can be loaded with an AUV and is applicable to the exploration of subglacial waters in Antarctica and extraterrestrial planets. It consists of an ice-piercing detector 1 and the AUV 2 it carries.

[0055] As Figures 1-3 shown, at the tail of the AUV 2 in this embodiment, there is a tail vector thruster 21. Under the action of this vector thruster 21, the AUV 2 can achieve conventional movement and control in space. At the head of the AUV 2, there is a pair of interfaces 22. The outer shape of the pair of interfaces 22 is a concave frustum. At the top of the frustum, there is a first USBL 24, which is used to guide the AUV 2 to approach the ice-piercing detector 1. The taper of the frustum is designed to just not affect the field of view angle of the USBL; inside the frustum, there is a second toroidal coil and a second iron core 23. When the second toroidal coil is energized, it generates a magnetic field, and under the action of the electromagnetic force, it can attract and engage with the first toroidal coil and the first iron core on the lifting and docking system 17 of the ice-piercing detector to assist the docking of the AUV 2. At the front of the AUV 2, there is also a sonar 25, which is used to detect the acoustic signal emitted by the acoustic beacon 15 on the ice-piercing detector 1 at a long distance, so as to identify the approximate orientation of the ice-piercing detector 1.

[0056] As Figures 4-6 shown, the ice-piercing detector 1 in this embodiment consists of four parts: an ice anchor 11, a tail cabin 12, an AUV storage cabin 13, and a thermal drill bit 10, which are connected in sequence along the axis. Among them, the ice anchor 11 is used to fix the ice-piercing detector in the ice hole; inside the tail cabin 12, there are arranged a cable retractor for the "ice surface - ice-piercing detector" and an ice-piercing detector control system, etc.; inside the AUV storage cabin 13, there are an AUV winch system 14, a lifting and docking system 17, and a thermal drill bit rotation motor 19; the thermal drill bit 10 is used to heat the ice layer for thermal melting drilling. The ice anchor 11, the tail cabin 12, and the AUV storage cabin 13 are fixedly connected. The AUV storage cabin 13 and the thermal drill bit 10 are rotationally connected through the thermal drill bit rotation motor 19. The thermal drill bit rotation motor 19 is fixed on the cabin wall of the AUV storage cabin 13, and its rotating shaft is located at an eccentric position on the cross-sectional circle. The rotating shaft of the thermal drill bit rotation motor 19 is connected to the thermal drill bit 10 through a coupling to drive the thermal drill bit 10 to perform eccentric rotation. The AUV 2 is loaded along the axis of the AUV storage cabin 13 inside the AUV storage cabin 13. Figure 7 It is a schematic structural diagram after the complete expansion of the present invention.

[0057] As Figure 8 shown, the cable end of the AUV winch system 14 in this embodiment is connected to a lifting and docking system 17, and the lifting and docking system 17 is released or lifted through the cable. The AUV winch system 14 includes a winch base 141, on which a winch drive motor 145 and a support base 144 are fixed. A drum 143 for releasing and storing the cable is rotatably connected to the support base 144. The drum 143 is connected to the winch drive motor 145 that drives its rotation through a coupling. There is a cable through-hole 142 at the center of the winch base 141. After the cable end passes through the cable through-hole 142, it is connected to the lifting and docking system 17. The winch drive motor 145 drives the drum 143 to rotate, realizing the retraction and release of the cable, and further realizing the deployment and recovery of the AUV.

[0058] As Figures 9-11As shown, the lifting and docking system 17 in this embodiment includes a limit disk 171. A cable connector 172 is fixed on the upper end surface of the limit disk 171. A sensor group is installed on the lower end surface of the limit disk 171. A connecting rod 176 that can rotate between a horizontal position and a vertical position is further installed on the lower end surface of the limit disk 171. The connecting rod 176 is connected to an AUV rotating motor 175 that drives its rotation. The AUV rotating motor 175 is fixed on the limit disk 171. A docking head 177 for docking with the AUV 2 is provided at the end of the connecting rod 176. The docking head 177 is a conical docking head, and a first annular coil and a first iron core are arranged on the outer wall of its frustum. An AUV locking mechanism 178 for locking the AUV 2 on the connecting rod is provided on the docking head 177. A moving guiding structure for positioning and protecting the AUV 2 during its movement in the AUV storage compartment 13 is provided between the limit disk 171 and the AUV storage compartment 13. The moving guiding structure includes a plurality of lifting guiding rails 18 and a plurality of guiding hole seats 173. The lifting guiding rails 18 are arranged on the inner wall of the AUV storage compartment 13. The guiding hole seats 173 are arranged on the upper end surface of the limit disk 171. A guiding hole is provided at the position of the limit disk 171 where the guiding hole seats 173 are arranged. The guiding hole seats 173 correspond to the lifting guiding rails 18 one by one and form a moving pair. The sensor group includes a second USBL 16 for undocking navigation and communication within a few kilometers of the AUV 2 from the detector, a sonobuoy 15 for providing approximate azimuth information for the AUV 2 within a farther distance range, and a CTD 20 for measuring the temperature, conductivity, and depth of the water body.Specifically, from top to bottom, there are: a cable 146 extending from the AUV winch system 14, which drives the lifting and docking system 17 to move within the AUV storage compartment 13, realizes the deployment and recovery of the AUV 2, and provides a power and data transmission path for the AUV 2 and the sensor group; a cable connector 172, which is connected to the cable 146 and is used to realize the electrical connection of all electrical equipment in the cable 146 and the lifting and docking system 17. At the same time, it also has a load-bearing function and is the force point for the cable 146 to drive the lifting and docking system 17 to move; a limit disc 171, which is fixedly connected to the cable connector 172, with a guide hole opened above the disc and various sensors placed below the disc; a guide hole seat 173, which is fixed on the limit disc 171 and forms a moving pair with the lifting guide rail 18 in the AUV storage compartment 13, ensuring the correct position of the AUV 2 in the AUV storage compartment 13 and preventing it from scratching and colliding with the cabin wall during storage, deployment, and recovery, ensuring the safety of the equipment; a CTD 20, which is bolted to the limit disc 171 and is used to measure the temperature, conductivity, and depth of the water body. These parameters are important physical parameters of the water body, can provide relevant information about the water body for scientists, provide data support for subsequent large-scale scientific investigations, and can also be used to calibrate the propagation speed of sound waves in this water body, improving the detection accuracy of acoustic sensors in this water body; a mounting block 174, which is used to pad and install sensors and is bolted to the limit disc 171; a second USBL 16, which is bolted to the mounting block and can be used for docking navigation and communication within a few kilometers of the AUV from the detector; a sonobuoy, which is bolted to the mounting block 174 and can provide approximate azimuth information for the AUV 2 over a longer distance range. Since the sonobuoy 15 has a lower acoustic frequency, even if a small part of the sonobuoy 15 is blocked by the USBL, the influence of this blockage can be ignored; an AUV rotating motor 175, which is fixed to the limit disc 171 by bolts; a connecting rod 176, one end of which forms a rotational connection with the rotating shaft of the AUV rotating motor 175 and can rotate around the rotating shaft under the drive of the AUV rotating motor 175, and the other end is bolted to the conical docking head; a conical docking head, whose outer shape is a frustum of a cone, is provided with an AUV locking mechanism 178 on the docking head, and there is a first toroidal coil and a first iron core inside the docking head 177, which are used for assisting docking and charging the AUV. When the first toroidal coil and the second toroidal coil are energized during docking to generate a magnetic field, they are attracted to each other under the action of electromagnetic force to assist in guiding the AUV to dock. After the first toroidal coil is energized with alternating current and the second toroidal coil is de-energized, the AUV 2 can be charged through electromagnetic coupling.

[0059] After the ice-penetrating detector 1 reaches the sub-ice water body, the process of deploying the AUV 2 and starting to work is as Figure 12 shown, and the main steps are as follows:

[0060] (1) The ice anchor 11 of the ice-piercing detector 1 acts to fix the ice-piercing detector 1 in the ice hole;

[0061] (2) The hot-melting drill rotating motor 19 of the AUV storage compartment 13 operates, rotating the hot-melting drill 10 clockwise by 180° to create a lowering passage for the winch to lower the AUV 2.

[0062] (3) The winch drive motor 145 in the AUV winch system 14 operates to release the cable 146. The limit disc 171 and all components connected thereto are lowered smoothly under their own weights and under the guiding action of the lifting guide rail 18, preparing for the AUV rotating motor 175 to rotate the AUV.

[0063] After the limit disc 171 is in place, the second USBL 16, CTD 20, and acoustic beacon 15 are also deployed in place. At this time, the second USBL 16 and the acoustic beacon 15 are located at positions more forward than the hot-melting drill.

[0064] (4) The AUV rotating motor 175 operates, rotating counterclockwise by 90° to rotate the AUV 2 from the vertical state to the horizontal state.

[0065] (5) The AUV locking mechanism 178 is unlocked, and the tail vector thruster 21 of the AUV 2 operates, and the AUV 2 leaves the ice-piercing detector 1 to start the detection of the underwater ice area.

[0066] The docking and recovery process of the AUV 2 is the reverse process of the above deployment process, with only slight differences in docking. See Figure 12 , and the docking process is as follows:

[0067] (1) The AUV 2 enters the action range of the second USBL 16 by searching for the signal of the acoustic beacon 15 of the ice-piercing detector 1, and then sails to the vicinity of the docking interface of the ice-piercing detector 2 under the navigation of the USBL signal.

[0068] (2) The coils at the docking head 177 and the docking interface 22 of the AUV 2 are energized, and the two are attracted to each other and finally engaged under the action of electromagnetic force. After engagement, the AUV locking mechanism 178 operates to lock the AUV 2. Then, the second ring coil on the AUV 2 is de-energized, and the first ring coil is energized with alternating current. Using the principle of electromagnetic coupling, the ice-piercing detector 1 transmits electrical energy to the AUV 2 through the coupling coil and conducts data communication relying on the built-in wireless transmission module. If the AUV 2 is only returning for charging, it can continue to leave the ice-piercing detector 1 to start a new detection task after being fully charged; if the ice-piercing detector 1 needs to recover the AUV 2, it enters step (3).

[0069] (3) The AUV rotating motor 175 operates, rotating clockwise by 90° to rotate the AUV 2 from the horizontal state to the vertical state.

[0070] (4) The winch drive motor 145 in the AUV retractable winch system 14 operates to lift the cable 146. Under the action of the cable tension and with the guiding effect of the lifting guide rail, the limit disc 171 and all components connected thereto move smoothly upward. After the limit disc 171 reaches the position, the second USBL 16, CTD 20, and acoustic beacon 15 are recovered in place together with the AUV 2.

[0071] (5) The hot-melt drill rotation motor 19 in the AUV storage cabin 13 operates to rotate the hot-melt drill 14 counterclockwise by 180°, and the hot-melt drill 14 returns to the initial position. The ice penetration detector 1 releases the ice anchor 11, making preparations for recovering and returning to the ice surface.

[0072] When the present invention releases and recovers the AUV, only the hot-melt drill needs to be rotated separately to create a passage for the AUV, without the need to rotate the combined modules of the detection sensor cabin and the hot-melt drill, reducing the requirements for the support strength and torque of the rotating joints. When the AUV is lowered, the present invention can complete the arrangement of the navigation and positioning and communication sensors at the same time, without the need to separately set up a mechanism for the sensor deployment link, reducing the number of mechanisms required for the deployment action, simplifying the deployment work process, reducing the complexity of the system mechanism, and improving the system reliability to a certain extent. The conical docking interface design with an energized coil and an iron core generates electromagnetic force when the coil is energized and uses the guiding effect of the cone to align the AUV and the ice penetration detector under the action of the electromagnetic force, and then the AUV locking mechanism locks the AUV. This design is simpler in structure compared to the traditional docking method. After the docking is completed, the ice penetration detector can also transmit electrical energy to the AUV through the coil using the principle of electromagnetic coupling, without the need to separately set up a charging device. The deployment method using a winch and a guide rail has a simple and reliable deployment mechanism.

Claims

1. The loadable AUV ice-piercing detector applicable to the exploration of ice-covered waters in Antarctica and extraterrestrial planets includes an ice-piercing detector and an AUV, Characterized in that: The ice-piercing detector includes an ice anchor for fixing the ice-piercing detector in an ice hole, a tail cabin provided with a cable storage device and an ice-piercing detector control system, and an AUV storage cabin for loading the AUV, which are fixedly connected in sequence along the axis. An eccentric rotary heat-melting drill bit for heating the ice layer for thermal melting drilling is rotatably connected to the end of the AUV storage cabin; An AUV winch system is installed in the AUV storage cabin. The end of the cable of the AUV winch system is connected to a lifting and docking system. The lifting and docking system includes a limit disc. A cable connector is fixed on the upper end surface of the limit disc. A sensor group is installed on the lower end surface of the limit disc. A connecting rod that can rotate between a horizontal position and a vertical position is also installed on the lower end surface of the limit disc. A docking head for docking with the AUV is provided at the end of the connecting rod. An AUV locking mechanism for locking the AUV on the connecting rod is provided on the docking head. A moving guiding structure for positioning and protecting the AUV during the movement of the AUV in the AUV storage cabin is provided between the limit disc and the AUV storage cabin; The AUV is loaded along the axis of the AUV storage cabin in the AUV storage cabin. A docking port for docking with the docking head is provided at the head of the AUV. A first USBL for guiding the AUV to approach the ice-piercing detector is installed at the top inside the docking port; The docking head is a conical docking head. A first annular coil and a first iron core are arranged on the outer wall of its frustum. The docking port is a concave frustum. A second annular coil and a second iron core are arranged in the wall of the concave frustum. The first annular coil and the second annular coil are energized to generate a magnetic field during docking and attract each other under the action of electromagnetic force to assist in guiding the docking of the AUV; A tail vector thruster for realizing conventional movement and control in space is installed at the tail of the AUV. A sonar for cooperating with a sound beacon to identify the general orientation of the ice-piercing detector is provided at the front of the AUV; The AUV storage cabin and the heat-melting drill bit are rotatably connected through a heat-melting drill bit rotating motor. The heat-melting drill bit rotating motor is fixed on the wall of the AUV storage cabin. Its rotating shaft is located at an eccentric position on the cross-sectional circle. The rotating shaft of the heat-melting drill bit rotating motor is connected to the heat-melting drill bit through a coupling to drive the heat-melting drill bit to rotate eccentrically; The AUV winch system includes a winch base. A winch driving motor and a support base are fixed on the winch base. A reel for releasing and storing the cable is rotatably connected to the support base. The reel is connected to the winch driving motor that drives its rotation through a coupling; There is a cable through hole in the center of the winch base. The end of the cable passes through the cable through hole and is connected to the lifting and docking system.

2. The loadable AUV ice-piercing detector applicable to the exploration of ice-covered waters in Antarctica and extraterrestrial planets according to claim 1, Characterized in that: The sensor group includes a second USBL for docking navigation and communication within a few kilometers of the AUV from the detector, a sonobuoy for providing approximate azimuth information to the AUV within a farther range, and a CTD for measuring the temperature, conductivity, and depth of the water body. The second USBL and the sonobuoy are fixedly connected to the limit disc through mounting blocks that raise their mounting heights, and the CTD is fixedly connected to the limit disc.

3. The ice-piercing detector for a loadable AUV applicable to ice-covered waters in Antarctica and extraterrestrial waters as described in claim 1, characterized in that: The connecting rod is connected to the AUV rotating motor that drives its rotation, and the AUV rotating motor is fixed on the limit disc.

4. The ice-piercing detector for a loadable AUV applicable to ice-covered waters in Antarctica and extraterrestrial waters as described in claim 1, characterized in that: The mobile guiding structure includes a number of lifting guiding rails and a number of guiding hole seats. The lifting guiding rails are arranged on the inner wall of the AUV storage compartment, the guiding hole seats are arranged on the upper end surface of the limit disc, the limit disc is provided with guiding holes at the positions where the guiding hole seats are arranged, and the guiding hole seats correspond to the lifting guiding rails one by one and form a moving pair.

5. The ice-piercing detector for a loadable AUV applicable to ice-covered waters in Antarctica and extraterrestrial waters as described in claim 1, characterized in that: The specific steps for deploying the AUV are as follows: (1) The ice anchor of the ice-piercing detector operates to fix the ice-piercing detector in the ice hole; (2) The hot-melting drill bit rotating motor of the AUV storage compartment operates to rotate the hot-melting drill bit clockwise by 180°, to create a lowering passage for the winch to lower the AUV; (3) The winch driving motor in the AUV winch system operates to release the cable. Under the action of its own weight, the limit disc and all the components connected thereto, combined with the guiding action of the lifting guiding rails, are smoothly lowered to prepare for the AUV rotating motor to rotate the AUV. After the limit disc arrives, the second USBL, CTD, and sonobuoy are also deployed in place. At this time, the second USBL and the sonobuoy are located at a position more forward than the hot-melting drill bit; (4) The AUV rotating motor operates to rotate counterclockwise by 90° to rotate the AUV from a vertical state to a horizontal state; (5) The AUV locking mechanism is unlocked, and the tail vector thruster of the AUV operates, and the AUV leaves the ice-piercing detector and starts to detect the ice-covered waters.

6. The ice-piercing detector for a loadable AUV applicable to ice-covered waters in Antarctica and extraterrestrial waters as described in claim 5, characterized in that: The specific steps for the docking and recovery of the AUV are as follows: (1) The AUV enters the action range of the second USBL by searching for the sonobuoy signal of the ice-piercing detector, and then navigates to near the docking head under the navigation of the USBL signal; (2) Energize the coil at the docking interface between the docking head and the AUV. Under the action of electromagnetic force, the two attract each other and finally engage. After engagement, the AUV locking mechanism operates to lock the AUV. Then, the second toroidal coil on the AUV is de-energized, and the first toroidal coil of the docking head is energized with alternating current. Using the principle of electromagnetic coupling, the ice penetration detector transmits electrical energy to the AUV through the coupling coil and conducts data communication relying on the built-in wireless transmission module. If the AUV is only returning for charging, it can continue to leave the ice penetration detector after being fully charged to start a new detection mission. If the ice penetration detector needs to recover the AUV, proceed to step (3); (3) The AUV rotation motor operates and rotates clockwise by 90°, rotating the AUV from the horizontal state to the vertical state; (4) The winch drive motor in the AUV winch system operates to lift the cable. Under the action of the cable tension, the limit disc and all components connected thereto smoothly move upward under the guiding action of the lifting guide rail. After the limit disc is in place, the second USBL, CTD, and acoustic beacon are recovered in place together with the AUV; (5) The hot melt drill rotation motor in the AUV storage compartment operates to rotate the hot melt drill counterclockwise by 180°. The hot melt drill returns to its initial position, and the ice penetration detector releases the ice anchor, making preparations for recovering and returning to the ice surface.

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