Cross-medium navigation body icebreaking test device and test method

Abstract

The invention discloses a cross-medium navigation body icebreaking test device and test method, the test device comprises a water tank, the side surface of the water tank is provided with a transparent observation window; the ice clamping mechanism is mounted in the water tank; the moving assembly comprises a first sliding rail, a second sliding rail, a third sliding rail and a clamping piece, the first sliding rail is installed in the water tank and extends in the x direction, the second sliding rail is connected with a sliding block of the first sliding rail and extends in the y direction, the third sliding rail is connected with a sliding block of the second sliding rail and extends in the z direction, and the clamping piece is installed on a sliding block of the third sliding rail; the detection assembly comprises a load sensor and a camera, the load sensor is installed on the clamping piece, and the camera is erected beside the water tank and records through the observation window. According to the invention, ice blocks for testing can be fixed in the water tank through the ice clamping mechanism for simulating a real ice layer structure; by adjusting the driving mode of the motion assembly, the navigation body can be driven to impact the ice blocks in different directions, so that different test requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of icebreaking for a cross-medium navigation body, and in particular to a test device and a test method for icebreaking for a cross-medium navigation body. Background Art

[0002] With global warming, the potential mineral and energy resources in the polar regions are being unsealed from the long-frozen ice. How to overcome the harsh environment in the polar regions to exploit resources has become a technical problem that needs to be solved urgently. Among them, polar shipping and development are deeply dependent on the development of polar equipment, and the independent research and development capabilities of polar equipment are highly valued. Icebreaking of cross-media navigation bodies is a typical fluid-solid coupling problem in marine engineering. How to achieve efficient icebreaking of cross-media navigation bodies is the key to improving the efficiency of polar resource exploitation.

[0003] At present, experimental methods are the most direct research methods to explore icebreaking loads. However, at this stage, icebreaking test devices are mainly aimed at studying the physical properties of ice, and test devices that can break ice with a slender body out of the water and impact ice with a slender body have not yet been launched. The functions and uses of existing icebreaking load test devices are relatively single, and they cannot meet the needs of icebreaking load measurement tests for navigation bodies across media, in multiple directions, and under different conditions; at the same time, there is currently no test device with this function to study the properties of ice surface cracks after the navigation body breaks the ice. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a cross-medium navigation body icebreaking test device, which can simulate the process of the navigation body breaking ice out of water or entering water, and can further study the ice surface cracks after icebreaking.

[0005] The present invention also proposes a test method using the above-mentioned cross-medium navigation body icebreaking test device.

[0006] The cross-medium navigation body icebreaking test device according to the first aspect of the present invention comprises:

[0007] A water tank, wherein a transparent observation window is provided on the side of the water tank;

[0008] An ice clamping mechanism, the ice clamping mechanism is used to clamp ice cubes, and the ice clamping mechanism is installed inside the water tank;

[0009] A motion assembly, the motion assembly comprising a first slide rail, a second slide rail, a third slide rail and a clamping member, the first slide rail is installed in the water tank and extends along the x direction, the second slide rail is connected to the slider of the first slide rail and extends along the y direction, the third slide rail is connected to the slider of the second slide rail and extends along the z direction, and the clamping member is installed on the slider of the third slide rail and is used to install the navigation body;

[0010] A detection component, wherein the detection component comprises a load sensor and a camera, wherein the load sensor is mounted on the clamping member, and the camera is mounted beside the water tank and records the ice-breaking process of the navigation body through the observation window.

[0011] The cross-medium vehicle icebreaking test device according to the embodiment of the present invention has at least the following beneficial effects: the ice blocks for the test can be fixed in the water tank through the ice clamping mechanism to simulate the real ice layer structure; by adjusting the driving mode of the motion component, the vehicle can be driven to hit the ice blocks in different directions, thereby meeting different test requirements.

[0012] According to some embodiments of the present invention, the cross-medium navigation body icebreaking test device further includes a receiving plate, and the receiving plate is installed inside the water tank to support the ice clamping mechanism.

[0013] According to some embodiments of the present invention, the cross-medium navigation body icebreaking test device further includes a guide rail, there are multiple guide rails and all of the guide rails are arranged inside the water tank along the z direction, and the receiving plate is slidably connected to each of the guide rails.

[0014] According to some embodiments of the present invention, the ice clamping mechanism includes an upper plate, a middle ice clamping plate, a lower plate and an elastic member, the upper plate, the middle ice clamping plate and the lower plate are all frame-shaped structures, the upper plate and the lower plate are fixedly connected and a space is reserved therebetween, the middle ice clamping plate is arranged in the space; the two ends of the elastic member are respectively connected to the middle ice clamping plate and the upper plate, and the elastic member drives the middle ice clamping plate to approach the lower plate, or the two ends of the elastic member are respectively connected to the middle ice clamping plate and the lower plate, and the elastic member drives the middle ice clamping plate to approach the upper plate.

[0015] According to some embodiments of the present invention, the two ends of the elastic member are respectively connected to the ice-clamping middle plate and the upper plate, the upper plate is provided with a threaded hole, a top screw is arranged in the threaded hole, the end of the top screw is abutted against the elastic member, and screwing the top screw can change the pressure applied by the elastic member to the ice-clamping middle plate.

[0016] According to some embodiments of the present invention, the two ends of the elastic member are respectively connected to the ice-clamping middle plate and the lower plate, the lower plate is provided with a threaded hole, a top screw is arranged in the threaded hole, the end of the top screw is abutted against the elastic member, and screwing the top screw can change the pressure applied by the elastic member to the ice-clamping middle plate.

[0017] According to some embodiments of the present invention, the upper plate is provided with a lifting ring to facilitate lifting.

[0018] According to some embodiments of the present invention, the first slide rail, the second slide rail and the third slide rail are all provided with a motor, a pulley, a belt and a slider, the belt is wound around the pulley, the slider is fixedly connected to the belt, and the motor drives the pulley to rotate to drive the slider to move through the belt.

[0019] According to some embodiments of the present invention, rollers are installed at the bottom of the water tank to facilitate movement.

[0020] The test method according to the second aspect of the present invention is carried out using the above-mentioned cross-medium navigation body icebreaking test device, and includes the following steps:

[0021] Taking out the ice cubes for testing and fixing them into the ice clamping mechanism;

[0022] Installing the ice clamping mechanism into the water tank;

[0023] injecting water into the water tank until the water surface contacts the ice cubes in the ice clamping mechanism;

[0024] Fixing the navigation body to the clamping member;

[0025] The motion component is started, and a test is performed in a horizontal ice-breaking mode, an out-of-water ice-breaking mode, or an in-water ice-breaking mode, wherein:

[0026] The horizontal ice breaking mode comprises the following steps:

[0027] Control the third slide rail to position the navigation body on the water surface;

[0028] Controlling the first slide rail or the second slide rail to make the navigation body hit the ice block horizontally;

[0029] The water-out and ice-breaking mode comprises the following steps:

[0030] Controlling the third slide rail and positioning the navigation body below the water surface;

[0031] Controlling the third slide rail to lift the navigation body, so that the navigation body hits the ice block from bottom to top and jumps out of the water;

[0032] The water entry and ice breaking mode comprises the following steps:

[0033] Controlling the third slide rail to position the navigation body above the water surface;

[0034] Controlling the third slide rail to lower the navigation body so that the navigation body hits the ice from top to bottom and sinks into the water;

[0035] The load change readings detected by the load sensor and the image data captured by the camera are recorded and analyzed.

[0036] The test method according to the embodiment of the present invention has at least the following beneficial effects: by controlling the first slide rail, the second slide rail and the third slide rail, the navigation body can be driven to hit the ice in different directions, thereby completing three test conditions of horizontal icebreaking, vertical water-out icebreaking and vertical water-entry icebreaking, thus having higher universality.

[0037] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0039] Figure 1 A three-dimensional diagram of an icebreaking test device for a cross-medium navigation body according to an embodiment of the first aspect of the present invention;

[0040] Figure 2 This is a schematic diagram of the internal structure of a water tank 100 in an icebreaking test device for a cross-medium navigation body according to an embodiment of the first aspect of the present invention;

[0041] Figure 3 It is a schematic diagram of the arrangement of the ice clamping mechanism 200 and the motion component 300 in the cross-medium navigation body icebreaking test device according to the first aspect of the embodiment of the present invention;

[0042] Figure 4 A three-dimensional diagram of a motion component 300 in a cross-medium navigation body icebreaking test device according to an embodiment of the first aspect of the present invention;

[0043] Figure 5 A three-dimensional diagram of an ice clamping mechanism 200 in an ice-breaking test device for a cross-medium navigation body according to an embodiment of the first aspect of the present invention;

[0044] Figure 6 It is a schematic diagram of installing the ice clamping mechanism 200 in the test method of the embodiment of the second aspect of the present invention;

[0045] Figure 7 A schematic diagram of a horizontal ice-breaking mode in a test method of an embodiment of the second aspect of the present invention;

[0046] Figure 8 It is a schematic diagram of the water-out and ice-breaking mode in the test method of the embodiment of the second aspect of the present invention;

[0047] Fig. 9 It is a schematic diagram of the water entry and ice breaking mode in the test method of the embodiment of the second aspect of the present invention.

[0048] Figure markings: 100-water tank, 110-observation window, 120-roller, 130-water inlet, 140-water outlet, 200-ice clamping mechanism, 210-upper plate, 211-lifting ring, 220-ice clamping middle plate, 230-lower plate, 240-elastic part, 250-top screw 300-moving component, 310-first slide rail, 320-second slide rail, 330-third slide rail, 340-clamping part, 410-load sensor, 420-camera, 430-lighting lamp, 500-receiving plate, 600-guide rail, 700-navigation body, 800-crane, 900-ice maker. DETAILED DESCRIPTION

[0049] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0050] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and 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, and therefore should not be understood as a limitation on the present invention.

[0051] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0052] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0053] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0054] With global warming, the potential mineral and energy resources in the polar regions are being unsealed from the long-frozen ice. How to overcome the harsh environment in the polar regions to exploit resources has become a technical problem that needs to be solved urgently. Among them, polar shipping and development are deeply dependent on the development of polar equipment, and the independent research and development capabilities of polar equipment are highly valued. Icebreaking of cross-media navigation bodies is a typical fluid-solid coupling problem in marine engineering. How to achieve efficient icebreaking of cross-media navigation bodies is the key to improving the efficiency of polar resource exploitation.

[0055] At present, experimental methods are the most direct research methods to explore icebreaking loads. However, at this stage, icebreaking test devices are mainly aimed at studying the physical properties of ice, and test devices that can break ice with a slender body out of the water and impact ice with a slender body have not yet been launched. The functions and uses of existing icebreaking load test devices are relatively single, and they cannot meet the needs of icebreaking load measurement tests for navigation bodies across media, in multiple directions, and under different conditions; at the same time, there is currently no test device with this function to study the properties of ice surface cracks after the navigation body breaks the ice.

[0056] In this regard, the present application proposes a cross-media vehicle icebreaking test device, which can fix the ice blocks for the test in the water tank 100 through the ice clamping mechanism 200 to simulate the real ice layer structure; by adjusting the driving mode of the motion component 300, the vehicle 700 can be driven to hit the ice blocks in different directions, thereby meeting different test requirements.

[0057] In addition, the present application also proposes a test method, which can drive the navigation body 700 to hit the ice in different directions by controlling the first slide rail 310, the second slide rail 320 and the third slide rail 330, so as to complete three test conditions: horizontal ice breaking, vertical water-out ice breaking and vertical water-entry ice breaking, thus having higher universality.

[0058] Reference Figure 1The cross-medium navigation body icebreaking test device in the embodiment of the first aspect of the present application includes a water tank 100, an ice clamping mechanism 200, a motion component 300 and a detection component. The water tank 100 is used to load water, and the icebreaking test is carried out in the water tank 100. The ice clamping mechanism 200 is used to clamp ice cubes and fix them in the water tank 100. The motion component 300 is used to drive the navigation body 700 to move and make it hit the ice cubes. The detection component is used to detect the load change when the navigation body 700 hits the ice cubes and record the ice breaking situation.

[0059] Specifically, a transparent observation window 110 is provided on the side of the water tank 100 for displaying the test conditions in the water tank 100. The ice clamping mechanism 200 is installed inside the water tank 100 for clamping ice cubes.

[0060] Reference Figure 4 The motion assembly 300 includes a first slide rail 310, a second slide rail 320, a third slide rail 330 and a clamp 340. The first slide rail 310 is installed in the water tank 100 and extends along the x direction, the second slide rail 320 is connected to the slider of the first slide rail 310 and extends along the y direction, and the third slide rail 330 is connected to the slider of the second slide rail 320 and extends along the z direction, so that the three slide rails together constitute a three-dimensional motion mechanism. The clamp 340 is installed on the slider of the third slide rail 330 and is used to install the navigation body 700.

[0061] The detection assembly includes a load sensor 410 and a camera 420. The load sensor 410 is mounted on the clamping member 340 (see Figure 7 ), the camera 420 is set up beside the water tank 100 and records the ice breaking process of the navigation body 700 through the observation window 110. In order to make the image clearer, a lighting lamp 430 can also be set to perform auxiliary lighting.

[0062] Further, refer to Figure 2 The cross-medium navigation body icebreaking test device further includes a receiving plate 500 , which is installed inside the water tank 100 and extends toward the inside of the water tank 100 to carry the ice clamping mechanism 200 .

[0063] Optionally, the cross-medium navigation body icebreaking test device further includes a guide rail 600, and the number of the guide rail 600 is multiple and all are arranged inside the water tank 100 along the z direction. Figure 3 The receiving plate 500 is slidably connected to each guide rail 600 , so that the height of the ice clamping mechanism 200 in the water tank 100 can be adjusted by sliding the receiving plate 500 .

[0064] For the ice clamping mechanism 200, specifically, refer to Figure 5The ice clamping mechanism 200 includes an upper plate 210, an ice clamping middle plate 220, a lower plate 230 and an elastic member 240. The upper plate 210, the ice clamping middle plate 220 and the lower plate 230 are all frame-shaped structures, so that they can clamp the ice cubes around and reserve the middle position of the ice cubes for ice breaking tests. The upper plate 210 and the lower plate 230 are fixedly connected and a space is reserved between the two, and the ice clamping middle plate 220 is arranged in the space. In some embodiments, the two ends of the elastic member 240 are respectively connected to the ice clamping middle plate 220 and the upper plate 210, and the elastic member 240 drives the ice clamping middle plate 220 to approach the lower plate 230, and the ice clamping middle plate 220 and the lower plate 230 are used to clamp the ice cubes. Alternatively, in other embodiments, both ends of the elastic member 240 are respectively connected to the ice clamping middle plate 220 and the lower plate 230, and the elastic member 240 drives the ice clamping middle plate 220 to approach the upper plate 210, and the ice clamping middle plate 220 and the upper plate 210 are used to clamp the ice cubes.

[0065] Furthermore, for the embodiment in which both ends of the elastic member 240 are connected to the ice clamping middle plate 220 and the upper plate 210 respectively, the upper plate 210 is further provided with a threaded hole, in which a top screw 250 is provided, and the end of the top screw 250 abuts against the elastic member 240. Twisting the top screw 250 can change its position in the threaded hole, thereby compressing or releasing the elastic member 240, changing the pressure applied by the elastic member 240 to the ice clamping middle plate 220, thereby changing the clamping force of the ice cubes.

[0066] For the embodiment in which both ends of the elastic member 240 are connected to the ice clamping middle plate 220 and the lower plate 230 respectively, the lower plate 230 is further provided with a threaded hole, in which a top screw 250 is provided, and the end of the top screw 250 abuts against the elastic member 240. Twisting the top screw 250 can change its position in the threaded hole, thereby compressing or releasing the elastic member 240, changing the pressure applied by the elastic member 240 to the ice clamping middle plate 220, thereby changing the clamping force of the ice cubes.

[0067] Furthermore, the upper plate 210 is provided with a lifting ring 211 for easy lifting.

[0068] For the motion assembly, specifically, the first slide rail 310, the second slide rail 320 and the third slide rail 330 are all provided with a motor, a pulley, a belt and a slider, the belt is wound around the pulley, the slider is fixedly connected to the belt, and the motor drives the pulley to rotate to drive the slider to move through the belt.

[0069] Furthermore, a roller 120 is installed at the bottom of the water tank 100 for easy movement. The water tank 100 is provided with a water inlet 130 and a water outlet 140, wherein the water inlet 130 is located at the bottom of the water tank 100, and the water outlet 140 is located at one side of the water tank 100. When the water level is too high, water can overflow from the water outlet 140, which plays a role in controlling the maximum water level.

[0070] A test method in an embodiment of the second aspect of the present application is performed based on the above-mentioned cross-medium navigation body icebreaking test device, comprising the following steps:

[0071] S100.Reference Figure 6 , using the ice maker 900 to make ice cubes, taking out the ice cubes for testing, and fixing them in the ice clamping mechanism 200;

[0072] S200. The ice clamping mechanism 200 is installed in the water tank 100. Specifically, the ice clamping mechanism 200 can be hoisted using a crane 800;

[0073] S300. Inject water into the water tank 100 until the water surface contacts the ice in the ice clamping mechanism 200;

[0074] S400. Fix the navigation body 700 to the clamping member 340;

[0075] S500. Start the motion component and select the horizontal ice-breaking mode, the out-of-water ice-breaking mode or the in-water ice-breaking mode for testing, wherein:

[0076] The horizontal icebreaker model includes the following steps:

[0077] S511. Reference Figure 7 , controlling the third slide rail 330 and positioning the navigation body 700 on the water surface;

[0078] S512. Control the first rail 310 or the second rail 320 to make the navigation body 700 hit the ice horizontally;

[0079] The water-out ice-breaking mode includes the following steps:

[0080] S521.Reference Figure 8 , controlling the third slide rail 330 and positioning the navigation body 700 below the water surface;

[0081] S522. Control the third slide rail 330 to lift the navigation body 700, so that the navigation body 700 hits the ice from bottom to top and jumps out of the water;

[0082] The water entry and ice breaking mode includes the following steps:

[0083] S531.Reference Fig. 9 , controlling the third slide rail 330 and positioning the navigation body 700 above the water surface;

[0084] S532. Control the third rail 330 to lower the navigation body 700, so that the navigation body 700 hits the ice from top to bottom and sinks into the water;

[0085] S600 . Record and analyze the load change readings detected by the load sensor 410 and the image data captured by the camera 420 .

[0086] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A cross-medium navigation body icebreaking test device, characterized in that: include: A water tank, wherein a transparent observation window is provided on the side of the water tank; An ice clamping mechanism, the ice clamping mechanism is used to clamp ice cubes, and the ice clamping mechanism is installed inside the water tank; A motion assembly, the motion assembly comprising a first slide rail, a second slide rail, a third slide rail and a clamping member, the first slide rail is installed in the water tank and extends along the x direction, the second slide rail is connected to the slider of the first slide rail and extends along the y direction, the third slide rail is connected to the slider of the second slide rail and extends along the z direction, and the clamping member is installed on the slider of the third slide rail and is used to install the navigation body; A detection component, wherein the detection component comprises a load sensor and a camera, wherein the load sensor is mounted on the clamping member, and the camera is mounted beside the water tank and records the ice-breaking process of the navigation body through the observation window.

2. The cross-medium navigation body icebreaking test device according to claim 1 is characterized by: The cross-medium navigation body icebreaking test device further comprises a receiving plate, and the receiving plate is installed inside the water tank to support the ice clamping mechanism.

3. The cross-medium navigation body icebreaking test device according to claim 2 is characterized by: The cross-medium navigation body icebreaking test device also includes a guide rail, there are multiple guide rails and all of them are arranged inside the water tank along the z direction, and the receiving plate is slidably connected to each of the guide rails.

4. The cross-medium navigation body icebreaking test device according to claim 1 is characterized by: The ice clamping mechanism includes an upper plate, a middle ice clamping plate, a lower plate and an elastic member, wherein the upper plate, the middle ice clamping plate and the lower plate are all frame-shaped structures, the upper plate and the lower plate are fixedly connected and a space is reserved therebetween, and the middle ice clamping plate is arranged in the space; the two ends of the elastic member are respectively connected to the middle ice clamping plate and the upper plate, and the elastic member drives the middle ice clamping plate to approach the lower plate, or the two ends of the elastic member are respectively connected to the middle ice clamping plate and the lower plate, and the elastic member drives the middle ice clamping plate to approach the upper plate.

5. The cross-medium navigation body icebreaking test device according to claim 4 is characterized by: The two ends of the elastic member are respectively connected to the ice clamping middle plate and the upper plate. The upper plate is provided with a threaded hole. A top screw is arranged in the threaded hole. The end of the top screw abuts against the elastic member. Screwing the top screw can change the pressure applied by the elastic member to the ice clamping middle plate.

6. The cross-medium navigation body icebreaking test device according to claim 4 is characterized by: The two ends of the elastic member are respectively connected to the ice clamping middle plate and the lower plate. The lower plate is provided with a threaded hole. A top screw is arranged in the threaded hole. The end of the top screw abuts against the elastic member. Screwing the top screw can change the pressure applied by the elastic member to the ice clamping middle plate.

7. The cross-medium navigation body icebreaking test device according to claim 4 is characterized by: The upper plate is provided with lifting rings for easy lifting.

8. The cross-medium navigation body icebreaking test device according to claim 1 is characterized by: The first slide rail, the second slide rail and the third slide rail are all provided with a motor, a pulley, a belt and a slider, the belt is wound around the pulley, the slider is fixedly connected to the belt, and the motor drives the pulley to rotate to drive the slider to move through the belt.

9. The cross-medium navigation body icebreaking test device according to claim 1 is characterized by: Rollers are installed at the bottom of the water tank for easy movement.

10. A test method, based on the cross-medium navigation body icebreaking test device according to any one of claims 1 to 9, characterized in that: include: Taking out the ice cubes for testing and fixing them into the ice clamping mechanism; Installing the ice clamping mechanism into the water tank; injecting water into the water tank until the water surface contacts the ice cubes in the ice clamping mechanism; Fixing the navigation body to the clamping member; The motion component is started, and a test is performed in a horizontal ice-breaking mode, an out-of-water ice-breaking mode, or an in-water ice-breaking mode, wherein: The horizontal ice breaking mode comprises the following steps: Control the third slide rail to position the navigation body on the water surface; Controlling the first slide rail or the second slide rail to make the navigation body hit the ice block horizontally; The water-out and ice-breaking mode comprises the following steps: Controlling the third slide rail and positioning the navigation body below the water surface; Controlling the third slide rail to lift the navigation body, so that the navigation body hits the ice block from bottom to top and jumps out of the water; The water entry and ice breaking mode comprises the following steps: Controlling the third slide rail to position the navigation body above the water surface; Controlling the third slide rail to lower the navigation body so that the navigation body hits the ice from top to bottom and sinks into the water; The load change readings detected by the load sensor and the image data captured by the camera are recorded and analyzed.

Images