An unmanned underwater icebreaker

Abstract

The application discloses an unmanned underwater ice-breaking vehicle, which comprises a vehicle body, a pop-up device, front and rear battery cabin devices, a folding wing device, a water tank device, an electronic cabin device, a motor device and a tail device; the water tank device, the pop-up device and the front and rear battery cabin devices are arranged at the middle part of the vehicle body, the pop-up device is arranged above the water tank device, the front and rear battery cabin devices are arranged in front of and behind the water tank device; the folding wing device is arranged at the two side parts of the vehicle body, the electronic cabin device is arranged at the front end of the vehicle body, and the tail device is arranged at the tail end of the vehicle body; and the motor device is arranged at the rear part of the vehicle body and in front of the tail device. The application has the advantages of low cost, small noise, strong concealment, autonomous work, high safety, complete functions, simple maintenance and the like. The application can effectively break ice and provide support for civil and military tasks in the Arctic Ocean and other ice-covered sea areas, and has high practical value.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ice breaking, and particularly relates to an unmanned underwater ice breaking vehicle. BACKGROUND

[0002] The North Pole Ocean is a global key sea area, which is an important waterway connecting the Pacific Ocean and the Atlantic Ocean, and is also a middle zone of Asia, Europe and North America. If not affected by cold and ice, it would be the most convenient place for the three continents to exchange and connect, and has very important strategic significance. Due to the cold climate of the North Pole Ocean, it is covered with thick ice layer all the year round. In winter, 73% of the sea surface is frozen, and the average thickness of the ice layer is 3 meters; in summer, 57% of the sea surface is covered with ice layer. In order to carry out activities in the civil or military field in the North Pole Ocean, how to effectively implement ice breaking is a problem to be solved. SUMMARY

[0003] The application solves the technical problem of overcoming the shortcomings of the prior art, and provides an unmanned underwater ice breaking vehicle which is low in cost, small in noise and high in concealment.

[0004] The technical scheme adopted by the application to solve the technical problem is that the unmanned underwater ice breaking vehicle comprises a vehicle main body, and is characterized in that: further comprising a pop-out device, a front battery cabin device, a rear battery cabin device, a folding wing device, a water tank device, an electronic cabin device, a motor device and a tail device.

[0005] The water tank device is arranged at the middle part of the vehicle main body; the pop-out device is arranged above the water tank device at the middle part of the vehicle main body, and comprises an ice breaking device and a sonar device; the ice breaking device and the sonar device can be popped out from the top surface of the vehicle main body to the outside of the vehicle main body.

[0006] The front battery cabin device and the rear battery cabin device are arranged below the pop-out device at the middle part of the vehicle main body, and are arranged in front of and behind the water tank device respectively.

[0007] The folding wing device is arranged at the two side parts of the vehicle main body, and can be popped out from the two side surfaces of the vehicle main body to the outside of the vehicle main body.

[0008] The electronic cabin device is arranged at the front end of the vehicle main body, the tail device is arranged at the tail end of the vehicle main body, and the motor device is arranged at the rear part of the vehicle main body in front of the tail device.

[0009] After the pop-out device is popped out from the middle part of the vehicle main body, the ice breaking device is located in the middle, and the sonar devices are arranged on the two sides respectively.

[0010] Preferably, the electronic cabin device comprises a shell, a main control electronic cabinet, an inertial navigation assembly, a Doppler, an acoustic remote control assembly, a depth sensor and a distribution box.

[0011] Preferably, the front battery cabin device and the rear battery cabin device each comprise a shell, a battery pack, a float and a side array element device.

[0012] Preferably, the tail device comprises a hull, a propeller, a rudder assembly, a tail shaft assembly, a start switch and a setting cable.

[0013] Preferably, the motor device comprises a motor shell, a power propulsion circuit and a propulsion motor.

[0014] Preferably, the hull comprises a fin rudder.

[0015] Compared with the prior art, the ice breaking device has the advantages that: the ice breaking device has low cost, small noise, strong concealment, high safety, complete functions, simple maintenance and repair, and can be realized by unmanned equipment to perform ice breaking operation in a harsh environment such as the North Pole, thereby saving a large amount of manpower and material resources, providing support for civil and military tasks in an ice-covered sea area such as the Arctic Ocean, and having strong practical value. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a front view of an embodiment of the present application;

[0017] Figure 2 is a left view of an embodiment of the present application;

[0018] Figure 3 is a top view of an embodiment of the present application;

[0019] Figure 4 is a front view of a telescopic system of a pop-up device of an embodiment of the present application;

[0020] Figure 5 is a working flowchart of a telescopic system of a pop-up device of an embodiment of the present application.

[0021] Marked as in the figure:

[0022] Pop-up device; 11, ice breaking device; 12, sonar device; 21, front battery cabin device; 22, rear battery cabin device;

[0023] 3, folding wing device; 4, water ballast tank device; 5, electronic cabin device; 6, motor device; 7, tail device. DETAILED DESCRIPTION

[0024] The present application will be further described below in combination with the embodiments of the drawings: EMBODIMENT

[0025] AsFigures 1 to 5 As shown in the figure, the unmanned underwater ice-breaking vehicle comprises a vehicle body, a pop-up device 1, a front battery cabin device 21, a rear battery cabin device 22, a folding wing device 3, a water ballast tank device 4, an electronic cabin device 5, a motor device 6 and a tail device 7.

[0026] The water ballast tank device 4 is arranged at the middle part of the vehicle body; the pop-up device 1 is arranged above the water ballast tank device 4 at the middle part of the vehicle body, and the pop-up device 1 comprises an ice-breaking device 11 and a sonar device 12, which can pop up from the top surface of the vehicle body to the outside of the vehicle body; after the pop-up device 1 pops up from the middle part of the vehicle body, the ice-breaking device 11 is located in the middle, and one sonar device 12 is arranged on each side of the ice-breaking device 11.

[0027] The front battery cabin device 21 and the rear battery cabin device 22 are arranged below the pop-up device 1 at the middle part of the vehicle body and are arranged in front of and behind the water ballast tank device 4 respectively; the front battery cabin device 21 and the rear battery cabin device 22 each comprise a shell, a battery pack, a float and a side array element device.

[0028] The folding wing device 3 is arranged at the two side parts of the vehicle body and can be stretched from the two side surfaces of the vehicle body to the outside of the side surfaces of the vehicle body.

[0029] The electronic cabin device 5 is arranged at the front end of the vehicle body, and the electronic cabin device 5 comprises a shell, a main control electronic case, an inertial navigation assembly, a Doppler, a sound remote control assembly, a depth sensor and a distribution box.

[0030] The tail device 7 is arranged at the tail end of the vehicle body, and the tail device 7 comprises a hull, a propeller, a rudder assembly, a tail shaft assembly, a starting switch and a setting cable; the hull comprises a fin rudder; the motor device 6 is arranged in front of the tail device at the rear part of the vehicle body, and the motor device 6 comprises a motor shell, a power propulsion loop and a propulsion motor.

[0031] The present application controls the expansion and recovery of the related functional devices through the telescopic system, which is convenient for realizing different functions and can save the internal space of the vehicle body.

[0032] The key device is the pop-up device 1 arranged at the middle part of the vehicle body, which comprises the sonar device 12, the ice-breaking device 11 and the ice crushing treatment device. By changing the length of the hydraulic rod frame to obtain the required amplitude and lifting height, the upward-looking sonar originally placed in the interior of the vehicle body can be stretched out from the gap of the raised device to detect the thickness of the ice layer above, and the distance between the ice crushing device and the ice layer is shortened, and the blasting efficiency is increased.

[0033] 1. Design of sonar device function

[0034] The sonar device has the function of detecting the thickness of ice layer by using the upward-looking sonar detection technology, and the thickness of the ice layer is calculated by using the time delay difference of the scattered wave of the sound pulse on the upper and lower interfaces of the ice layer.

[0035] The sonar line array is installed on the left and right sides of the ejectable device 1, wherein each 10 array elements form a continuous array, the surrounding environment is measured, and a certain directivity is formed by the two line arrays, so that the surrounding environment target can be better detected. The array length is 1400mm, the working frequency is 5kHz, and the detection distance is about 17.88km.

[0036] When the active working mode is adopted, the synthetic aperture sonar can be formed under the condition of uniform speed sailing, which helps the vehicle body to detect the surrounding marine environment in all directions, discovers the obstacles in the marine environment in time and avoids the obstacles in time. When the passive working mode is adopted, the self does not emit pulse sound signals, and the target is detected by receiving target noise or sonar radiation. The self-guiding distance is far, and the concealment is good. The overall design takes into account: making full use of the space of the vehicle body, increasing the array aperture, improving the spatial gain, and improving the self-guiding detection performance of the vehicle body.

[0037] 2. Function design of ice breaking device

[0038] The ice breaking device 11 is installed at the middle position of the ejectable device 1, filled with about 4.2kg of TNT, the steel shell material, and the explosion mode adopts the end face one-point initiation mode, which belongs to the latest type of underwater blasting bomb. The ice breaking device 11 gradually releases the safety, so that the electronic safety and the release safety device of the fuse are in a ready-to-fire state. When the vehicle body detects the appropriate ice layer position by the upward-looking sonar, the ice breaking device 11 outputs a high-pressure initiation pulse, which is expanded by a transmission sequence, and reliably initiates the main charge to blast the upper ice surface, thereby completing the ice breaking task in the Arctic region.

[0039] 3. Function design of ice breaking device

[0040] According to the use requirement, the ice breaking device can be replaced by the ice breaking device, which is used for removing the small floating ice after blasting. The ice breaking device can safely, quickly and effectively remove the ice pile on the surface of the blasting area, and has the characteristics of portability, economy and environmental protection. Compared with the chemical ice melting method and the physical ice melting method, the ice breaking method has the characteristics of short ice breaking time, high efficiency and high safety factor. The device is easy to disassemble, and can be used with the ice breaking device in a common installation mode and structure. It prevents collision with the submarine hull and causes cumulative damage to the submarine hull. It prevents the ice produced by blasting from entering the vertical launching cylinder. If the ice enters the launching cylinder, it will cause damage to the internal machinery and circuit structure, resulting in failure of the launching system and loss of the combat effectiveness of the submarine.

[0041] 4. Extension system design

[0042] The telescopic rod system comprises a telescopic device, a fixed cylinder, a control valve, a hydraulic cylinder and a hydraulic pump. When the telescopic rod works, the hydraulic pump inputs gas into the hydraulic cylinder. After a certain pressure is generated in the hydraulic cylinder, the hydraulic pump is closed and the control valve between the hydraulic cylinder and the telescopic rod is opened, so that the pressure generated in the hydraulic cylinder controls the movement of the telescopic rod to drive the telescopic rod to extend. It can be seen that the extension process of the telescopic rod is essentially the working process of the gas-liquid hydraulic pump.

[0043] The telescopic device is composed of a base plate, a telescopic rod and a rod end. The base plate is used for connecting the telescopic rod and a wing body. Before the wing body extends, the telescopic rod is stored in the base plate. The rod end controls the telescopic length of the telescopic rod by receiving electrical signals of a host computer and is provided with a sensor for monitoring whether the telescopic rod is unfolded. The structure of the hydraulic telescopic device is shown in Figure 4 .

[0044] The working process of the telescopic system is designed as follows:

[0045] (1) The host computer sends an instruction, and the telescopic rod extends from the base plate;

[0046] (2) The rod head sensor senses the angle between the wing body and the rod, and the rod head sensor timely sends information to the host computer. After comprehensive analysis, the host computer controls the telescopic length of the rod head. If the rod head does not touch an object, the telescopic rod continues to extend;

[0047] (3) If a fault occurs, the extension program is repeated. The motor drives the screw nut installed on the inner tube through a reduction gear, drives the axial operation nut connected thereto, and when the nut reaches the set stroke, the nut touches the limit switch to turn off the power supply, and the motor stops moving. The reverse is the same. The device above is lifted by about 25 cm. The working process of the telescopic system is shown in Figure 5 .

[0048] The hydraulic cylinder is composed of five parts, namely a cylinder assembly, a piston assembly, a sealing device, a buffer device and an exhaust device. The cylinder assembly comprises a cylinder barrel, an end cover and a guide sleeve. The cylinder barrel is the main body of the hydraulic cylinder and has sufficient strength and rigidity to ensure that it can withstand the sum of the hydraulic pressure and the pressure at a certain depth underwater. The end cover is installed at both ends of the cylinder barrel to form a closed oil chamber with the cylinder barrel. The guide sleeve plays a guiding and supporting role for the piston rod or plunger. The piston assembly comprises a piston and a piston rod. The piston reciprocates in the cylinder barrel under the action of oil pressure, and the piston rod is a force transmission part connecting the piston and the working part.

[0049] The working process and working principle of the present application are as follows:

[0050] As shown in Figures 1 to 5 ,

[0051] 1. The working process comprises the following four stages:

[0052] (1) The voyage stage: after launching, the vehicle autonomously voyages at a speed set by the task, and receives remote control instructions from the control platform every device time to update the task online, so as to realize controllable action.

[0053] (2) The search stage: after reaching the specified area, the gliding variable folding wings on the left and right sides of the vehicle body are unfolded, the vehicle body rises to a depth of 50-100 m above the water surface by using the lift generated by the wings, and the three working devices in the middle of the vehicle body are pushed out 25 cm by the three-pronged hydraulic telescopic rods, so that the shape of the vehicle body changes, the working stability is improved, the environmental interference resistance is improved, and the speed is reduced. The vehicle body cruises according to the predetermined search strategy and path to search for a suitable icebreaking position; the predetermined search strategy can be updated by the control platform as needed.

[0054] (3) The blasting stage: the vehicle body responsible for the blasting task carries the icebreaking device 11, rises to the position of the ice layer that has been positioned, relies on the icebreaking device 11 to detonate the charge, and implements blasting. The blasting command can be issued by the control platform or set in the vehicle body, and the vehicle body detonates the charge by itself after reaching the positioning position.

[0055] (4) The deicing stage: the vehicle body responsible for the deicing task replaces the icebreaking device 11 with an ice crushing device, and after the blasting is completed, the vehicle body sails to the icebreaking point to crush the ice in the blasting area by using the mechanical icebreaking device. After completion, it can ensure that the position point has the conditions to carry out further tasks.

[0056] 2. Working principle

[0057] The icebreaking vehicle body drives the motion of the vehicle body in the detection mode in water by changing the position of the center of gravity relative to the center of buoyancy and the size of the net gravity, and skillfully uses the characteristics of the water dynamic lift generated by the folding wing at a certain attack angle to convert the net gravity of the vehicle body into driving force for forward movement, thereby reducing the power consumption of the vehicle body during underwater detection. The folding wing technology can reduce the underwater size of the vehicle body, save underwater space, and reduce the water resistance of the vehicle body during underwater navigation and detection. According to the calculation, after the folding wing is folded, the exposed span length is reduced from 5.2 m to 0.416 m, which is reduced by 92%. The transmission system is a combination mechanism, and due to the existence of the double gear, the displacement of the rack on the wing C is three times that of the output slider I, thereby achieving stroke multiplication.

[0058] The icebreaking device 11 realizes the crushing and removal of ice piles on the sea ice surface by cooperating the drill rod, drill bit and paddle driven by the hydraulic cylinder and motor. This icebreaking device 11 can safely, quickly and effectively remove the ice piles on the surface of the blasting area, and has the characteristics of portability, economy and environmental protection. This device is easy to disassemble and can be installed with the icebreaking device 11 in a general manner and structure.

[0059] The aircraft body adopts a blade type lithium iron phosphate battery (hereinafter referred to as a blade battery) as an energy device, and the energy density thereof is 140Wh / kg, and the low-temperature resistance is excellent, and it can still work normally at minus 20 DEG C environment, in addition, the space utilization rate of the blade battery is high, the single blade battery cell is 1280mm long, 13.5mm wide, 118mm high, 3.2V voltage, the battery pack is transversely stacked in series, the cell is directly arranged in the array mode in the battery pack shell, the beam, the beam and various bolts and other components are saved under the condition of ensuring the strength of the battery pack, the space utilization rate of the middle part of the battery pack shell is improved, and the total capacity and energy density of the battery pack are improved. The voltage of 120 blade batteries in series can reach 384V, the battery energy reaches 120*0.9152 approximately 110 degrees, and the aircraft body use standard can be reached. Four battery packs of 30 cells each are divided into groups, stacked in array, the cell array width is 13.5mm*30=405mm, the length is unchanged, the height is 118*2=236mm, and the height of the battery pack shell after the height is not more than 200mm, and the width is not more than 400mm. The space utilization rate of the blade battery is about 70%, compared with the ternary lithium battery and other batteries, the space utilization rate is high, the volume of the battery occupying the aircraft body is reduced, and more space can be saved for other devices.

[0060] The above is only the preferred embodiment of the present application, and is not intended to limit the other forms of the present application, and any skilled person in the art can use the disclosed technical content to change or modify the equivalent embodiments. However, any simple modification, equivalent change and modification of the above embodiments without departing from the technical solution of the present application, according to the technical essence of the present application, still belongs to the protection scope of the technical solution of the present application.

Claims

1. An unmanned underwater icebreaking vehicle, comprising a vehicle body, characterized in that: It also includes an ejector device, a front battery compartment device, a rear battery compartment device, a folding wing device, a ballast tank device, an electronics compartment device, a motor device, and a tail device. The ballast tank is located in the middle of the main body of the vehicle; the ejectable device is located in the middle of the main body of the vehicle, above the ballast tank, and the ejectable device includes an ice-breaking device, a sonar device and an ice-breaking device. The ice-breaking device and the sonar device can be ejected from the top surface of the main body of the vehicle to the outside of the main body of the vehicle. The front battery compartment device and the rear battery compartment device are located in the middle of the main body of the vehicle and below the pop-out device, and are respectively located in front of and behind the ballast tank device. The folding wing device is located on the left and right sides of the middle and rear part of the main body of the aircraft, and can be popped out from the two sides of the main body of the aircraft. The electronic cabin device is located at the front end of the main body of the vehicle, and the tail device is located at the rear end of the main body of the vehicle; the motor device is located at the rear of the main body of the vehicle and in front of the tail device. After the ejectable device is ejected from the middle of the main body of the vehicle, the icebreaking device is located in the middle, and the sonar devices are respectively arranged on both sides. Depending on the usage requirements, the ice-breaking device can be replaced with an ice-crushing device to remove small pieces of floating ice left on the water surface after the blasting; the ice-crushing device is easy to disassemble and uses a universal installation method with the ice-breaking device. The specific function of the sonar device is to detect the thickness of the ice layer using an upward-looking sonar.

2. The unmanned underwater icebreaking vehicle as described in claim 1, characterized in that: The electronic cabin device includes a shell, a main control electronic chassis, an inertial navigation system, a Doppler, a sound remote control system, a depth sensor, and a junction box.

3. The unmanned underwater icebreaking vehicle as described in claim 2, characterized in that: The tail section includes a hull, a propeller, a steering gear assembly, a tail shaft assembly, a start switch, and a setting cable.

4. The unmanned underwater icebreaking vehicle as described in claim 3, characterized in that: The motor device includes a motor housing, a power propulsion circuit, and a propulsion motor.

5. The unmanned underwater icebreaking vehicle as described in claim 4, characterized in that: The hull includes fins and rudders.

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