An under-ice conical pendulum robot system and a method of motion thereof

Abstract

The present application relates to the technical field of underwater robot, and particularly relates to an underwater conical pendulum robot system and a motion 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. The ice station can control the winding and unwinding of the optical cable, so as to realize the position control and motion control of the underwater robot. The present application improves the safety of the underwater robot, reduces the navigation power consumption, enriches the navigation mode, and greatly prolongs the detection time of the ice body and the water body through the energy storage of the long-term ice station.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater conical pendulum robot system and its motion mode. Background Technology

[0002] Underwater robots are robotic systems used for exploration of aquatic environments such as oceans and lakes. However, relatively few underwater robots are designed for polar environments, such as below the Arctic ice cap. The harsh polar environment often limits researchers to short-term trials during the summer. Existing underwater robot systems face the challenge of limited and non-renewable energy sources. Furthermore, in polar environments, robots are prone to loss due to positioning errors, making them unsuitable for long-term exploration in the Arctic ice cap. Therefore, developing underwater robot systems that can overcome these challenges has significant scientific and practical value. Summary of the Invention

[0003] To address the aforementioned problems, this invention aims to provide an underwater conical pendulum robot system and its motion method. Compared to traditional underwater robot systems, this system has a power generation function, and the underwater robot does not carry batteries or only carries micro-batteries, thereby achieving miniaturization, low navigation drag, and high energy utilization. This system can be used for long-term polar environment exploration. Because the ice station is permanently fixed on the ice sheet, it is connected to the underwater robot via a winch, effectively preventing the underwater robot from being lost.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] The present invention provides an ice-covered conical pendulum robot system, comprising an ice station, an underwater robot, and an optical cable. The ice station penetrates the ice sheet and is fixed relative to the ice sheet. The underwater robot is placed in the water area below the ice sheet and is connected to the ice station via the optical cable. The ice station provides energy and communication for the underwater robot and can control the extension and retraction of the optical cable, thereby realizing the position and movement control of the underwater robot.

[0006] The ice station includes a power generation module, an antenna, a buoyancy material, a battery compartment, an ice-supported cylinder, and a take-up and release winch. The power generation module and antenna are located on top of the buoyancy material, and the ice-supported cylinder is located at the bottom of the buoyancy material. The battery compartment and the take-up and release winch are arranged from top to bottom inside the ice-supported cylinder. The battery compartment is connected to the power generation module and the optical cable. The take-up and release winch is used for taking up and releasing the optical cable. The power generation module is used to generate electricity and stores energy through the battery compartment.

[0007] The 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 turbine and a solar charging panel, which are connected to the battery compartment via cables.

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

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

[0011] The lower end of the ice-fixed cylinder is provided with a trumpet-shaped fiber optic guide cover, through which the optical cable passes.

[0012] The underwater robot is equipped with a single thruster at its stern and a freely rotatable optical cable guide ring at its midsection, with an optical fiber outlet for the optical cable to pass through.

[0013] Another aspect of the present invention provides a motion method for an underwater conical pendulum robot system as described above, wherein the underwater robot achieves motion control through a single thruster at the stern and the centripetal traction force of the optical cable.

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

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

[0016] 2) By adjusting the length of the optical cable and the buoyancy of the underwater robot, the underwater robot can achieve constant-depth variable-diameter circular motion or constant-diameter variable-depth spiral motion.

[0017] 3) The single thruster at the stern of the underwater robot is turned off, and the buoyancy is adjusted to a slightly negative buoyancy state. The vertical lifting and sinking motion of the underwater robot is achieved by adjusting the length of the optical cable.

[0018] The advantages and positive effects of this invention are as follows:

[0019] 1. Improved survivability: This invention has wind and solar power generation and energy storage functions, and the ice station is fixed on the ice sheet for a long time, which is relatively safe; by connecting the winch to the underwater robot, the risk of loss is reduced and the survivability in the polar environment is improved.

[0020] 2. High energy efficiency: The underwater robot of this invention has no battery or is equipped with only a micro battery. The single thruster design makes it significantly miniaturized, with low navigation resistance and high energy efficiency.

[0021] 3. Innovative Motion Modes: Using the long-term ice station as a fixed point, this invention proposes a variety of novel motion modes by utilizing the winch's cable deployment and buoyancy adjustment functions and the propeller, thereby further improving the energy utilization efficiency during exploration.

[0022] 4. The invention has a large detection range: The long-term ice station of the invention is fixed on the ice sheet, and the underwater robot can conduct long-term detection in the three-dimensional space below it. As the ice sheet drifts and moves, the entire system can drift together and conduct three-dimensional detection, thereby achieving extensive detection over a long time scale. Attached Figure Description

[0023] Figure 1 This is an isometric view of an ice-covered conical pendulum robot system according to the present invention.

[0024] Figure 2 This is a side view of an ice-covered conical pendulum robot system according to the present invention;

[0025] Figure 3 This is a front view of the ice station in this invention;

[0026] Figure 4 This is an isometric view of the ice station in this invention;

[0027] Figure 5 This is an isometric view of the underwater robot in this invention;

[0028] Figure 6 This is a schematic diagram of the vertical heave motion of the underwater robot in this invention;

[0029] Figure 7 This is a schematic diagram of the circular motion of the underwater robot in this invention.

[0030] In the diagram: 1-Ice station, 101-Wind turbine, 102-Antenna, 103-Solar charging panel, 104-Buoyancy material, 105-Battery compartment, 106-Under-ice fixing cylinder, 107-Fiber optic guide cover, 108-Launch and recovery winch, 109-Support frame, 2-Underwater robot, 201-Fiber optic cable exit ring, 202-Fiber optic cable exit port, 3-Fiber optic cable, 4-Ice cap. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] See Figures 1 to 7 As shown, an embodiment of the present invention provides an ice-covered conical pendulum robot system, including an ice station 1, an underwater robot 2, and an optical cable 3. The ice station 1 penetrates an ice sheet 4 and is fixed relative to the ice sheet 4. The underwater robot 2 is placed in the water area below the ice sheet 4 and 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 extension and retraction of the optical cable 3, thereby realizing the position and movement control of the underwater robot 2.

[0033] See 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-sealed cylinder 106, and a take-up and release winch 108. The power generation module and the antenna 102 are disposed on top of the buoyancy material 104, the ice-sealed cylinder 106 is disposed at the bottom of the buoyancy material 104, and the battery compartment 105 and the take-up and release winch 108 are disposed from top to bottom inside the ice-sealed cylinder 106. The battery compartment 105 is connected to the power generation module and the optical cable 3. The take-up and release winch 108 is used for taking up and releasing the optical cable 3 and also has a cable laying function. The power generation module is used to generate electricity and stores energy through the battery compartment 105.

[0034] See Figure 6 As shown, in an embodiment of the present invention, the ice-fixing cylinder 106 is embedded in the ice cover 4, and the buoyancy material 104 is located above the ice cover 4. The lower end of the ice-fixing cylinder 106 is provided with a trumpet-shaped fiber optic guide cover 107, and the optical cable 3 passes through the fiber optic guide cover 107 and is connected to the middle 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, which are connected to the battery compartment 105 via cables.

[0036] Specifically, the solar charging panel 103 is a vertical directional frame structure. The top of the buoyancy material 104 is provided with a support frame 109 located inside the solar charging panel 103. 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 located on the top of the support frame 109.

[0037] See Figure 5 As shown in the embodiment of the present invention, the underwater robot 2 has a single thruster at its stern and a freely rotatable optical cable guide ring 201 at its center. The optical cable guide ring 201 has an optical fiber outlet 2022 for the optical cable 3 to pass through. The optical cable guide ring 201 can adaptively rotate and adjust 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, characterized by miniaturization, battery-free operation or the use of a micro-battery, and a propulsion system consisting of only a single main thruster with low power consumption. Because the underwater robot 2 can be powered by the ice station 1 via an optical cable, the underwater robot can be battery-free or equipped with only a micro-battery, which can greatly realize the miniaturization and weight reduction of the underwater robot, further reducing navigation resistance and improving energy utilization efficiency.

[0038] In embodiments of the present invention, the underwater robot 2 exhibits diverse motion modes. The underwater robot 2 is propelled by a single thruster at its stern. A long-term ice station 1 serves as a fixed point, directly connected to the underwater robot 2 via an optical cable 3. The optical cable 3 provides centripetal force, enabling the underwater robot 2 to achieve circular motion at a constant depth. (See also...) Figure 7 As shown. By adjusting the length of the optical cable 3 using the winch 108, the buoyancy of the underwater robot 2 can be adjusted, further enabling the underwater robot 2 to perform constant-depth variable-diameter circular motion (circular motion with a variable diameter at a specific depth) or constant-diameter variable-depth spiral motion (circular motion with a variable depth at a specific diameter). When the main propulsion of the underwater robot 2 is shut down, and the buoyancy is adjusted to a slightly negative buoyancy state, the vertical heave motion of the underwater robot 2 can be achieved by adjusting the length of the optical cable 3 using the winch 108. See [link to relevant documentation]. Figure 6 As shown.

[0039] Through the aforementioned various movement modes, the sensors equipped on the underwater robot 2 can be used to flexibly and diversely detect hydrological information and ice bottom information in the three-dimensional space under the ice.

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

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

[0042] 1) The optical cable 3 is of fixed length. The underwater robot 2 is propelled by a single thruster at the stern, achieving a fixed-depth circular motion. See [link / reference] 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 constant depth and variable diameter circular motion or constant diameter and variable depth spiral motion.

[0044] 3) The single thruster at the stern of underwater robot 2 is shut down. The buoyancy is adjusted to a slightly negative buoyancy state. The vertical lifting and sinking motion of underwater robot 2 is achieved by adjusting the length of optical cable 3. (See below) Figure 6 As shown.

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

[0046] This invention provides an underwater conical pendulum robot system and its motion method. Through dynamic control of winch deployment and retraction, propellers, and buoyancy adjustment, the underwater robot can perform conical pendulum and vertical heave movements. It features low power consumption and a wide-range detection capability, improving safety, reducing navigation power consumption, enriching navigation modes, and significantly extending the detection time of ice and water bodies through long-term energy storage at ice stations. This invention has advantages such as strong survivability in harsh polar environments, high energy utilization, and a large detection range, and innovatively proposes multiple tethered motion modes for the underwater robot.

[0047] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A motion method for an ice-covered conical pendulum robot system, characterized in that, The ice-covered conical pendulum robot system includes an ice station (1), an underwater robot (2), and an optical cable (3). The ice station (1) penetrates the ice sheet (4) and is fixed relative to the ice sheet (4). The underwater robot (2) is placed in the water area below the ice sheet (4) and is connected to the ice station (1) through the optical cable (3). The ice station (1) provides energy and communication for the underwater robot (2) and can control the extension and retraction of the optical cable (3) to realize the position and movement control of the underwater robot (2). 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 take-up and release winch (108). The power generation module and the antenna (102) are located on top of the buoyancy material (104), and the ice-fixed cylinder (106) is located at the bottom of the buoyancy material (104). The battery compartment (105) and the take-up and release winch (108) are located inside 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 take-up and release winch (108) is used for taking up and releasing the optical cable (3). The power generation module is used to generate electricity and stores energy through the battery compartment (105). The underwater robot (2) achieves motion control through the single thruster at the stern and the centripetal traction force of the optical cable (3); The motion control of the underwater robot (2) includes the following motion modes: 1) The optical cable (3) is of fixed length, and the underwater robot (2) is propelled by a single thruster at the stern to achieve a fixed-depth circular motion of the underwater robot (2); 2) By adjusting the length of the optical cable (3) and the buoyancy of the underwater robot (2), the underwater robot (2) can achieve constant depth and variable diameter circular motion or constant diameter and variable depth spiral motion. 3) The single thruster at the stern of the underwater robot (2) is turned off, and the buoyancy is adjusted to a slightly negative buoyancy state. The vertical lifting and sinking motion of the underwater robot (2) is realized by adjusting the length of the optical cable (3).

2. The motion method of the ice-covered conical pendulum robot system according to claim 1, characterized in that, The ice-fixing cylinder (106) is embedded in the ice cover (4), and the buoyancy material (104) is located above the ice cover (4).

3. The motion method of the ice-covered conical pendulum robot system according to claim 1, characterized in that, The power generation module includes a wind turbine (101) and a solar charging panel (103), which are connected to the battery compartment (105) via cables.

4. The motion method of the ice-covered conical pendulum robot system according to claim 3, characterized in that, The solar charging panel (103) is a vertical directional frame structure.

5. The motion method of the ice-covered conical pendulum robot system according to claim 4, characterized in that, The top of the buoyancy material (104) is provided with a support frame (109) located inside the solar charging panel (103). 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 located on the top of the support frame (109).

6. The motion method of the ice-covered conical pendulum robot system according to claim 1, characterized in that, The lower end of the ice-fixed cylinder (106) is provided with a horn-shaped fiber optic guide cover (107), and the optical cable (3) passes through the fiber optic guide cover (107).

7. The motion method of the ice-covered conical pendulum robot system according to any one of claims 1-6, characterized in that, The underwater robot (2) is equipped with a single thruster at the stern and a freely rotatable optical cable guide ring (201) at the middle position of the underwater robot (2). The optical cable guide ring (201) is equipped with an optical fiber guide port (202) for the optical cable (3) to pass through.

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