Under-ice conical pendulum robot system and movement method thereof

Abstract

The invention relates to the technical field of under-ice robots, in particular to an under-ice conical pendulum robot system and a movement method thereof. The system comprises an ice station, an underwater robot and an optical cable, the ice station penetrates through an ice cover and is fixed relative to the ice cover, the underwater robot is arranged in a water area below the ice cover, the underwater robot is connected with the ice station through the optical cable, the ice station provides energy supply and communication for the underwater robot, and the ice station can control winding and unwinding of the optical cable. Therefore, position control and motion control of the underwater robot are realized. The safety of the underwater robot is improved, the navigation power consumption is reduced, the navigation modes are enriched, and the ice body and water body detection duration is greatly prolonged through long-term energy charging and storage of the ice station.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an under-ice cone pendulum robot system and a motion mode thereof. Background Art

[0002] An underwater robot is a robot system used for the exploration of water environments such as oceans and lakes. There are relatively few underwater robots used in polar environments such as below the Arctic ice sheet. The polar environment is harsh, and scientific expedition personnel can only go there in the summer to conduct short-term experiments. Existing underwater robot systems face the problem of limited and non-renewable energy. At the same time, in polar environments, robots are easily lost due to positioning errors, which makes them unsuitable for long-term exploration of the Arctic ice sheet environment. Therefore, the development of underwater robot systems that can overcome these challenges has important scientific and application value. Summary of the invention

[0003] In view of the above problems, the present invention aims to provide an under-ice conical pendulum robot system and its motion method. Compared with the traditional underwater robot system, the system has a power generation function, and the underwater robot does not carry batteries or only carries micro batteries, thereby achieving miniaturization, low navigation resistance and high energy utilization. The system can be used for long-term polar environment detection. Because the long-term ice station is fixed on the ice sheet, it is connected to the underwater robot through the retractable winch, which effectively prevents the loss of the underwater robot.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] On the one hand, the present invention provides an under-ice cone pendulum robot system, including an ice station, an underwater robot and an optical cable, wherein the ice station penetrates the ice cover and is fixed relative to the ice cover, the underwater robot is placed in the water area below the ice cover, and the underwater robot is connected to the ice station through an optical cable, the ice station provides energy supply and communication for the underwater robot, and the ice station can control the retraction and extension of the optical cable, thereby realizing the position and motion control of the underwater robot.

[0006] The ice station includes a power generation module, an antenna, a buoyancy material, a battery compartment, an under-ice fixing cylinder and a retractable winch. The power generation module and the antenna are arranged on the top of the buoyancy material, the under-ice fixing cylinder is arranged on the bottom of the buoyancy material, the battery compartment and the retractable winch are arranged in the under-ice fixing cylinder from top to bottom, the battery compartment is connected to the power generation module and the optical cable, and the retractable winch is used for retracting and extending the optical cable; the power generation module is used to generate electricity, and energy is stored through the battery compartment.

[0007] The under-ice fixing cylinder is embedded in the ice cover, and the buoyancy material is located above the ice cover.

[0008] The power generation module includes a wind generator and a solar charging panel, and the wind generator and the solar charging panel are connected to the battery compartment through cables.

[0009] The solar charging panel is a vertical frame structure.

[0010] A support frame located inside the solar charging panel is provided on the top of the buoyancy material, the upper end of the support frame is higher than the height of the solar charging panel, and the antenna and the wind turbine are arranged on the top of the support frame.

[0011] A trumpet-shaped optical fiber guide cover is arranged at the lower end of the under-ice fixing tube, and the optical cable passes through the optical fiber guide cover.

[0012] The stern of the underwater robot is provided with a single propeller, the middle position of the underwater robot is provided with a freely rotatable optical cable lead-out ring, and the optical cable lead-out ring is provided with an optical fiber lead-out port for the optical cable to pass through.

[0013] Another aspect of the present invention provides a motion method of the under-ice conical pendulum robot system as described above, wherein the motion control of the underwater robot is achieved through a single thruster at the stern and the centripetal traction of the optical cable.

[0014] The motion control of the underwater robot includes the following motion modes:

[0015] 1) The optical cable is of a fixed length, and the underwater robot is propelled by a single propeller at the stern to achieve a fixed-depth circular motion of the underwater robot;

[0016] 2) realizing a fixed-depth, variable-diameter circular motion or a fixed-diameter, variable-depth spiral motion of the underwater robot by retracting and releasing the length of the optical cable and adjusting the buoyancy of the underwater robot;

[0017] 3) The single propeller at the stern of the underwater robot is shut down, and the buoyancy is adjusted to a slightly negative buoyancy state, and the vertical heave and sink movement of the underwater robot is achieved by adjusting the length of the optical cable.

[0018] The advantages and positive effects of the present invention are:

[0019] 1. Improve survivability: The present invention has wind and solar power generation and energy storage functions. The long-term ice station is fixed on the ice sheet, which is relatively safe. By connecting with the underwater robot through the retractable winch, the risk of loss is reduced and the survivability in the polar environment is improved.

[0020] 2. High energy utilization rate: The underwater robot of the present invention has no battery or is only equipped with micro batteries. The single propeller design makes it significantly miniaturized, has low navigation resistance and high energy utilization rate.

[0021] 3. Innovative movement modes: The long-term ice station of the present invention is used as a fixed point. It utilizes the cable-retracting and -releasing function of the winch, the buoyancy adjustment function and the thruster to propose a variety of new movement modes, further improving the energy utilization efficiency during detection.

[0022] 4. The present invention has a large detection range: the long-term ice station of the present invention is fixed on the ice sheet, and the underwater robot can perform long-term detection in the three-dimensional space below it. As the ice sheet drifts and moves, the entire system can drift together and perform three-dimensional detection, thereby realizing extensive detection over a long time scale. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an axonometric diagram of an under-ice cone pendulum robot system of the present invention;

[0024] Figure 2 It is a side view of an under-ice cone pendulum robot system of the present invention;

[0025] Figure 3 It is the front view of the ice station in the present invention;

[0026] Figure 4 It is an axonometric diagram of the ice station in the present invention;

[0027] Figure 5 is an axonometric diagram of the underwater robot of the present invention;

[0028] Figure 6 A schematic diagram of the vertical heave and sink motion of the underwater robot in the present invention;

[0029] Figure 7 Schematic diagram of the circular motion of the underwater robot in the present invention.

[0030] In the figure: 1-ice station, 101-wind turbine, 102-antenna, 103-solar charging panel, 104-buoyancy material, 105-battery compartment, 106-under-ice fixing tube, 107-optical fiber guide cover, 108-retracting winch, 109-support frame, 2-underwater robot, 201-optical cable lead-out ring, 202-optical fiber lead-out port, 3-optical cable, 4-ice cover. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] See also Figures 1 to 7 As shown, an embodiment of the present invention provides an under-ice conical pendulum robot system, comprising an ice station 1, an underwater robot 2 and an optical cable 3, wherein the ice station 1 penetrates the ice cover 4 and is fixed relative to the ice cover 4, the underwater robot 2 is placed in the water area below the ice cover 4, and the underwater robot 2 is connected to the ice station 1 through the optical cable 3, the ice station 1 provides energy supply and communication for the underwater robot 2, and the ice station 1 can control the retraction and extension of the optical cable 3, thereby realizing the position and motion control of the underwater robot 2.

[0033] See also Figure 3 , Figure 4 As shown, in the embodiment of the present invention, the ice station 1 includes a power generation module, an antenna 102, a buoyancy material 104, a battery compartment 105, an ice-fixed cylinder 106 and a retractable winch 108, wherein the power generation module and the antenna 102 are arranged on the top of the buoyancy material 104, the ice-fixed cylinder 106 is arranged on the bottom of the buoyancy material 104, the battery compartment 105 and the retractable winch 108 are arranged in the ice-fixed cylinder 106 from top to bottom, the battery compartment 105 is connected to the power generation module and the optical cable 3, the retractable winch 108 is used for retracting and releasing the optical cable 3, and has a cable arrangement function. The power generation module is used to generate electricity and store energy through the battery compartment 105.

[0034] See also Figure 6 As shown, in the embodiment of the present invention, the under-ice fixing tube 106 is embedded in the ice cover 4, and the buoyancy material 104 is located above the ice cover 4. A trumpet-shaped optical fiber guide cover 107 is provided at the lower end of the under-ice fixing tube 106, and the optical cable 3 passes through the optical fiber guide cover 107 and is connected to the middle part of the underwater robot 2.

[0035] In an embodiment of the present invention, the power generation module includes a wind turbine 101 and a solar charging panel 103 , and the wind turbine 101 and the solar charging panel 103 are connected to the battery compartment 105 via cables.

[0036] Specifically, the solar charging panel 103 is a vertical frame structure. A support frame 109 located inside the solar charging panel 103 is provided on the top of the buoyancy material 104. The upper end of the support frame 109 is higher than the height of the solar charging panel 103. The antenna 102 and the wind turbine 101 are arranged on the top of the support frame 109.

[0037] See also Figure 5 As shown, in the embodiment of the present invention, a single propeller is provided at the stern of the underwater robot 2, and a freely rotatable optical cable lead-out ring 201 is provided at the middle position of the underwater robot 2, and an optical fiber lead-out port 2022 for the optical cable 3 to pass through is provided on the optical cable lead-out ring 201. The optical cable lead-out ring 201 can be adaptively rotated and adjusted according to the angle of the optical cable 3. Specifically, the underwater robot 2 is a conventional underwater robot equipped with a buoyancy adjustment system, which is characterized by miniaturization, no battery or micro-battery, and the propulsion system only includes a single main propulsion and low power consumption. Because the underwater robot 2 can be powered by the ice station 1 through an optical cable, the underwater robot can be battery-free or only equipped with micro-batteries, which can greatly realize the miniaturization and lightweight of the underwater robot, further reduce the navigation resistance, and improve the energy utilization efficiency.

[0038] In the embodiment of the present invention, the underwater robot 2 has various motion modes. The underwater robot 2 is propelled by a single propeller at the stern. The long-term ice station 1 is used as a fixed point and is directly connected to the underwater robot 2 through an optical cable 3. The optical cable 3 provides centripetal force to achieve a fixed-depth circular motion of the underwater robot 2. Figure 7 As shown. By adjusting the length of the optical cable 3 by retracting and extending the winch 108, the buoyancy of the underwater robot 2 can be adjusted, and the fixed-depth variable-diameter circular motion (circular motion with variable diameter at a specific depth) or fixed-diameter variable-depth spiral motion (circular motion with variable depth at a specific diameter) of the underwater robot 2 can be further realized. The main thrust of the underwater robot 2 is shut down, and the buoyancy is adjusted to a slightly negative buoyancy state. By adjusting the length of the optical cable 3 by retracting and extending the winch 108, the vertical heave and sink motion of the underwater robot 2 can be realized, see Figure 6 shown.

[0039] Through the above-mentioned multiple motion modes, the sensors equipped by the underwater robot 2 can be used to flexibly and diversely detect the hydrological information and ice bottom information of the three-dimensional space under the ice.

[0040] Another embodiment of the present invention provides a motion method of the underwater conical pendulum robot system as described above, wherein the underwater robot 2 realizes motion control through a single propeller at the stern and the centripetal traction of the optical cable 3.

[0041] The motion control of the underwater robot 2 includes the following motion modes:

[0042] 1) The optical cable 3 is of fixed length, and the underwater robot 2 is propelled by a single propeller at the stern to achieve a fixed-depth circular motion of the underwater robot 2, see Figure 7 As shown;

[0043] 2) By adjusting the length of the optical cable 3 and the buoyancy of the underwater robot 2, the underwater robot 2 can achieve a fixed-depth, variable-diameter circular motion or a fixed-diameter, variable-depth spiral motion;

[0044] 3) The single propeller at the stern of the underwater robot 2 is turned off, and the buoyancy is adjusted to a slightly negative buoyancy state. The length of the optical cable 3 is adjusted to achieve the vertical heave and sink movement of the underwater robot 2. Figure 6 shown.

[0045] The long-term ice station of the present invention is fixed on the ice sheet, and the underwater robot can perform long-term detection in the three-dimensional space below it. As the ice sheet drifts and moves, the entire system can drift together and perform three-dimensional detection, thereby realizing extensive detection over a long time scale.

[0046] The present invention provides an under-ice conical pendulum robot system and a motion method thereof. Through the dynamic control of the retractable winch, thruster and buoyancy adjustment, the underwater robot can perform conical pendulum and vertical heave and sink movements, has low power consumption and a wide range of detection capabilities, improves safety, reduces navigation power consumption, enriches navigation modes, and greatly prolongs the detection time of ice and water bodies through long-term ice station charging and energy storage. The present invention has the advantages of strong survival ability in the harsh polar environment, high energy utilization, and a large detection range, and innovatively proposes a variety of underwater machine cable motion modes.

[0047] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An under-ice cone pendulum robot system, characterized in that: The invention comprises an ice station (1), an underwater robot (2) and an optical cable (3), wherein the ice station (1) penetrates the ice cover (4) and is fixed relative to the ice cover (4), the underwater robot (2) is placed in the water area below the ice cover (4), and the underwater robot (2) is connected to the ice station (1) via the optical cable (3), the ice station (1) provides energy supply and communication for the underwater robot (2), and the ice station (1) can control the retraction and extension of the optical cable (3), thereby realizing the position and motion control of the underwater robot (2).

2. The under-ice cone pendulum robot system according to claim 1, characterized in that: The ice station (1) comprises a power generation module, an antenna (102), a buoyancy material (104), a battery compartment (105), an under-ice fixing cylinder (106) and a retractable winch (108), wherein the power generation module and the antenna (102) are arranged on the top of the buoyancy material (104), the under-ice fixing cylinder (106) is arranged on the bottom of the buoyancy material (104), the battery compartment (105) and the retractable winch (108) are arranged in the under-ice fixing cylinder (106) from top to bottom, the battery compartment (105) is connected to the power generation module and the optical cable (3), and the retractable winch (108) is used for retracting and extending the optical cable (3); the power generation module is used for generating electricity, and storing energy through the battery compartment (105).

3. The under-ice cone pendulum robot system according to claim 2, characterized in that: The under-ice fixing cylinder (106) is embedded in the ice cover (4), and the buoyancy material (104) is located above the ice cover (4).

4. The under-ice cone pendulum robot system according to claim 2, characterized in that: The power generation module comprises a wind generator (101) and a solar charging panel (103), and the wind generator (101) and the solar charging panel (103) are connected to the battery compartment (105) via cables.

5. The under-ice cone pendulum robot system according to claim 4, characterized in that: The solar charging panel (103) is a vertical frame structure.

6. The under-ice cone pendulum robot system according to claim 5, characterized in that: A support frame (109) located inside the solar charging panel (103) is provided on the top of the buoyancy material (104), the upper end of the support frame (109) is higher than the height of the solar charging panel (103), and the antenna (102) and the wind turbine (101) are arranged on the top of the support frame (109).

7. The under-ice cone pendulum robot system according to claim 2, characterized in that: A trumpet-shaped optical fiber guide cover (107) is provided at the lower end of the under-ice fixing tube (106), and the optical cable (3) passes through the optical fiber guide cover (107).

8. The under-ice cone pendulum robot system according to any one of claims 2 to 7, characterized in that: The stern of the underwater robot (2) is provided with a single propeller, the middle of the underwater robot (2) is provided with a freely rotatable optical cable lead-out ring (201), and the optical cable lead-out ring (201) is provided with an optical fiber lead-out port (202) for the optical cable (3) to pass through.

9. A motion method of an under-ice cone pendulum robot system as claimed in claim 8, characterized in that: The underwater robot (2) realizes motion control of the underwater robot (2) through the single propeller at the stern and the centripetal traction force of the optical cable (3).

10. The exercise method according to claim 9, characterized in that: The motion control of the underwater robot (2) includes the following motion modes: 1) The optical cable (3) has a fixed length, and the underwater robot (2) is propelled by a single propeller at the stern, thereby achieving a fixed-depth circular motion of the underwater robot (2); 2) by retracting and releasing the length of the optical cable (3) and adjusting the buoyancy of the underwater robot (2), the underwater robot (2) can achieve a fixed-depth, variable-diameter circular motion or a fixed-diameter, variable-depth spiral motion; 3) The single propeller at the stern of the underwater robot (2) is shut down, and the buoyancy is adjusted to a slightly negative buoyancy state, and the vertical heave and sink movement of the underwater robot (2) is achieved by adjusting the length of the optical cable (3).

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