Icebreaking equipment, controller, system and method

Abstract

The invention discloses icebreaking equipment, a controller, a system and a method. The icebreaking equipment comprises an aircraft main body, and the tail end of the aircraft main body is conical; the first ice blade is arranged at the front end of the aircraft main body and comprises a rotatable first shaft column and first blade blades arranged around the first shaft column, and one end, far away from the aircraft main body, of the first shaft column is conical; the propeller is arranged at the tail end of the aircraft main body; the second ice blades are arranged on the two sides of the bottom of the aircraft body, and each second ice blade comprises a rotatable second shaft column and a second blade blade arranged around the second shaft column. According to the embodiment of the invention, the ice breaking method can be selected in a targeted manner according to the ice domain condition of navigation, and the ice breaking method comprises the following steps: selecting a first ice blade to impact and drill an ice layer; selecting a second ice blade to cut the ice layer; the first ice blade, the second ice blade and the propeller are selected simultaneously. According to the ice breaking equipment, waste is not generated during ice breaking, pollution to the polar region environment is avoided, and the purpose of environmental protection can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of ice breaking technology, and in particular to an ice breaking device, a controller, a system and a method. Background Art

[0002] In recent years, as the global climate warms and the ice melts, the originally peaceful North and South Poles have been disturbed by human needs. The huge energy resources and shipping advantages they contain have been fully explored, and their strategic significance has become increasingly prominent. Scientific research activities on polar environment, climate change and marine ecosystems have become more in-depth and frequent. Through accurate detection and monitoring of the polar environment, scientific basis can be provided for global climate change response and environmental protection.

[0003] However, the polar climate is cold, most areas of the ocean are covered by sea ice all year round, and the polar subglacial environment has extremely low temperatures, high pressures, and complex terrain features.

[0004] Existing under-ice icebreaking technologies, such as submersibles surfacing to break ice and explosive icebreaking with explosives, have low icebreaking efficiency and limited icebreaking capacity. It is difficult to effectively break ice when encountering thick ice layers. Moreover, methods such as breaking ice with explosives are not only likely to affect the polar environment, but also to affect vehicles around the blasting point. Summary of the invention

[0005] The present invention provides an icebreaking device, a controller, a system and a method, which solve the technical problem of underwater icebreaking by arranging ice blades capable of breaking ice at the front end and the side end of a vehicle body.

[0006] In order to solve the above technical problems, a first aspect of an embodiment of the present invention provides an ice breaking device, characterized in that it includes:

[0007] an aircraft body, wherein the tail end of the aircraft body is tapered;

[0008] a first ice blade disposed at the front end of the aircraft body, the first ice blade comprising a rotatable first shaft column and a first blade disposed around the first shaft column, and an end of the first shaft column away from the aircraft body is tapered;

[0009] A propeller disposed on the tail end of the aircraft body;

[0010] The second ice blades are arranged on both sides of the bottom of the aircraft body, and the second ice blades include a rotatable second shaft column and a second blade arranged around the second shaft column.

[0011] Furthermore, the first shaft column is composed of a cone, a cylinder and a frustum connected in sequence, the lower base surface of the frustum is connected to the front end surface of the aircraft body, and the first blade is arranged around the cone, the cylinder and the frustum; the first shaft column is streamlined, and the first blade arranged close to the lower base surface of the frustum protrudes from the outer wall of the aircraft body.

[0012] Furthermore, the second shaft column is composed of a main shaft and buffer parts arranged at both ends of the main shaft, the ratio of the height of the second blade to the diameter of the main shaft is 0.15-0.2, and the second blades in the two second ice blades rotate in opposite directions around the second shaft column.

[0013] Furthermore, two grooves are opened at the bottom of the aircraft body, and the two second ice blades are respectively arranged in the two grooves. A connecting rod is arranged in the second shaft column, and the second ice blade is installed in the groove through the connecting rod, and the second blade protrudes from the side wall of the bottom of the aircraft body.

[0014] Furthermore, the installation position of the second ice blade arranged in the groove should meet the following conditions:

[0015]

[0016] The center of the cross section of the aircraft body is taken as the point of the base surface, R is the radius of the aircraft body, r is the radius of the second ice blade, and h is A is the blade height of the second ice blade, and the installation position of the second shaft column in the second ice blade is denoted as O A (x,y); y w is the position of the upper wall in the groove, x w is the position of the side wall in the groove.

[0017] Furthermore, the propeller includes a pod shell and propeller blades arranged on the pod shell, and the edges of the propeller blades protrude from the surface where the outer side wall of the aircraft body is located.

[0018] Furthermore, the icebreaking equipment also includes a posture sensor, a force sensor, a camera mechanism, and an imaging mechanism; the posture sensor and the force sensor are all provided on the vehicle body, the first ice blade, the propeller, and the second ice blade; the camera mechanism is provided on the outer wall of the vehicle body, and the camera mechanism is used to collect images of marine life; the imaging mechanism is provided inside the vehicle body, and the imaging mechanism is used to draw the seabed terrain environment of the polar region.

[0019] The second aspect of the embodiment of the present invention further provides a controller, including: at least one processor, including an ice layer measurement and control module, a drilling measurement and control module and an ice surface measurement and control module; a memory connected to the at least one processor in communication; the ice layer measurement and control module is used to transmit an acoustic wave signal, measure the time difference between the acoustic wave signal from the transmission to the reflected receiving wave when encountering the ice layer and the water layer, calculate the ice layer thickness in combination with the speed of the acoustic wave in the ice layer, and send the ice layer thickness to the drilling measurement and control module and the ice surface measurement and control module, and at the same time, draw the polar seabed terrain environment and collect images of marine life in combination with the camera mechanism and imaging mechanism of the icebreaking equipment;

[0020] The drilling measurement and control module is used to receive the ice layer thickness, adjust the propulsion rate of the propeller in the ice-breaking device, the use of the first ice blade and the second ice blade according to the ice layer thickness, monitor and collect the posture and orientation of the ice-breaking device and the first ice blade and the second ice blade in real time, obtain monitoring data, and transmit the monitoring data to the ice surface measurement and control system;

[0021] The ice surface measurement and control module is used to receive the ice layer thickness transmitted by the ice layer measurement and control module and the monitoring data transmitted by the drilling measurement and control module, and control the ice breaking equipment according to the monitoring data.

[0022] A third aspect of an embodiment of the present invention further provides an ice-breaking system, comprising the above-mentioned ice-breaking device and the above-mentioned controller, wherein the controller is used to control the operating state and use of the ice-breaking device.

[0023] A fourth aspect of an embodiment of the present invention further provides an ice-breaking method, comprising: calculating the thickness of an ice layer by means of sound waves; obtaining a picture of the ice layer by means of camera and imaging technology, and obtaining the volume of the ice layer according to the picture of the ice layer; judging the type of the ice layer in combination with the thickness of the ice layer and the size of the ice layer, wherein the ice layer is divided into: a first ice layer environment, a second ice layer environment, a third ice layer environment, and a fourth ice layer environment; when it is the first ice layer environment, the ice-breaking device starts to use a propeller, and the propeller is used to move the ice-breaking device forward, and a first ice blade is used to directly impact the ice layer; when it is the second ice layer environment, the ice-breaking device starts to use the propeller and the first ice blade, and the propeller is used to move the ice-breaking device forward, and a first ice blade is used to directly impact the ice layer. The propeller moves the ice-breaking device forward, and the ice layer is broken by the turned-on first ice blade; when the ice layer environment is the third type, the ice-breaking device starts to use the propeller, the first ice blade and the second ice blade, and moves the ice-breaking device forward by the propeller, uses the turned-on second ice blade to cut the ice layer, and then uses the turned-on first ice blade to break the ice layer; when the ice layer environment is the fourth type, the ice-breaking device starts to use the propeller, the first ice blade and the second ice blade, and moves the ice-breaking device forward by the propeller, uses the turned-on first ice blade, the second ice blade and the propeller to break the ice layer to form multiple breaking points, thereby breaking the ice layer.

[0024] Compared with the prior art, the icebreaking equipment, controller, system and method provided by the present invention have the following beneficial effects: the embodiment of the present invention sets a first ice blade at the front end of the aircraft body. Because the end of the first shaft column in the first ice blade away from the aircraft body is conical, the first ice blade can be used directly to impact the ice layer. When necessary, the first ice blade can be started to drill and break the ice layer; the second ice blade is set on both sides of the bottom of the aircraft body, and the second ice blade can cut the ice layer. The present invention can select the icebreaking method according to the ice field conditions of the navigation, thereby improving the icebreaking efficiency of the icebreaking equipment. In addition, the icebreaking method of the icebreaking equipment is friendly to the polar environment, does not generate waste, and will not cause pollution to the polar environment, and can achieve the purpose of green environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural schematic diagram of an ice-breaking device according to an embodiment of the present invention from a first perspective;

[0026] Figure 2 This is a schematic structural diagram of the ice-breaking device according to the embodiment of the present invention from a second viewing angle;

[0027] Figure 3 This is a schematic structural diagram of the ice-breaking device according to an embodiment of the present invention from a third viewing angle;

[0028] Figure 4 It is a structural schematic diagram of the ice-breaking device according to the embodiment of the present invention from a fourth viewing angle;

[0029] Figure 5 It is a cross-sectional schematic diagram of an ice-breaking device according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a first ice blade according to an embodiment of the present invention;

[0031] FIG. 7( a ) is a schematic structural diagram of a second ice blade disposed on the left side according to an embodiment of the present invention;

[0032] FIG7( b ) is a schematic structural diagram of a second ice blade disposed on the right side according to an embodiment of the present invention;

[0033] Figure 8 It is a schematic diagram of ice breaking of the ice breaking device according to an embodiment of the present invention in a thin ice environment;

[0034] Fig. 9 It is a schematic diagram of ice breaking of the ice breaking device of an embodiment of the present invention under small-scale crushed ice and large floating ice;

[0035] Fig.10 It is a schematic diagram of ice breaking of the ice breaking device according to an embodiment of the present invention in a thick and flat ice environment;

[0036] Fig.11 It is a schematic diagram of ice breaking of the ice breaking device under overall large-sized ice according to an embodiment of the present invention;

[0037] Fig.12 It is a schematic diagram of an ice-breaking device according to an embodiment of the present invention sailing close to the ice layer;

[0038] Fig.13 It is a schematic diagram of an ice-breaking device according to an embodiment of the present invention sailing to an ice surface;

[0039] Fig.14 It is a cross-sectional schematic diagram of the second ice blade installed in the groove according to an embodiment of the present invention;

[0040] Fig.15 The present invention provides a flow chart of an ice-breaking method.

[0041] The reference numerals of the drawings in the specification are as follows:

[0042] 100. Icebreaking equipment; 1. Vehicle body; 11. Groove; 2. First ice blade; 21. First shaft column; 211. Cone; 212. Cylinder; 213. Cone; 22. First blade; 3. Second ice blade; 31. Second shaft column; 311. Main shaft; 312. Buffer; 32. Second blade; 33. Connecting rod; 4. Propeller; 41. Pod shell; 42. Propeller blade; 5. Controller; 6. Drive mechanism; 7. Transmission mechanism; 200. Ice surface. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application 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 cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" refers to two or more, unless otherwise clearly and specifically defined.

[0045] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0047] In the application examples, "parallel" means that the angle formed by a straight line, a straight line and a plane, or a plane and a plane is -1° to 1°. In addition, "perpendicular" means that the angle formed by a straight line, a straight line and a plane, or a plane and a plane is 89° to 91°. Equal distance, equal angle or equal area means that the tolerance range is -1% to 1%.

[0048] like Figures 1 to 14 As shown, an icebreaking device 100 of an embodiment of the present invention comprises an aircraft body 1, a first ice blade 2, a propeller 4, a second ice blade 3 and a driving mechanism 6, wherein the tail end of the aircraft body 1 is tapered; the first ice blade 2 is arranged at the front end of the aircraft body 1, the first ice blade 2 comprises a rotatable first shaft column 21 and a first blade 22 arranged around the first shaft column 21, and the end of the first shaft column 21 away from the aircraft body 1 is tapered; the propeller 4 is arranged at the tail end of the aircraft body 1; the second ice blade 3 is arranged on both sides of the bottom of the aircraft body 1, the second ice blade 3 comprises a rotatable second shaft column 31 and a second blade 32 arranged around the second shaft column 31; the driving mechanism 6 is used to drive the first ice blade 2, the propeller 4 and the second ice blade 3.

[0049] Specifically, the front end of the aircraft body 1 is in the shape of a truncated cone, wherein the upper bottom surface is arranged at the end away from the aircraft body 1; the rear end of the aircraft body 1 is in the shape of a cone 211, and the tail of the cone 211 helps to reduce the resistance encountered by the icebreaking equipment 100 when moving in water or air, making the navigation smoother and improving speed and efficiency.

[0050] See also Figure 6 As shown, the first ice blade 2 includes a rotatable first shaft column 21 and a first blade 22 arranged around the first shaft column 21. The first ice blade 2 is installed at the front end of the aircraft body 1 and is arranged at the front end of the aircraft body 1. The first shaft column 21 and the first blade 22 in the first ice blade 2 are usually made of high-strength and high-wear-resistant materials. The first blade 22 is also equipped with a sharp edge to facilitate rapid and effective penetration of the ice layer. Preferably, the hull length of the icebreaker 100 (including the first ice blade) is 8400mm, and the diameter of the rotating body of the first ice blade is 1500mm. When the driving mechanism 6 is not started, the first ice blade 2 can impact the ice layer through the cone at its front end to achieve the purpose of breaking the ice layer; after the driving mechanism 6 is started, the first shaft column 21 will rotate under the drive of the driving mechanism 6, and at the same time drive the first blade 22 set on the first shaft column 21. The first shaft column 21 and the first blade 22 can both destroy the ice layer. Compared with directly using the first ice blade 2 to impact, in this state, the damage to the first ice blade 2 is smaller, and the destructive ability to the ice layer is also stronger.

[0051] Specifically, the first shaft column 21 is composed of a cone 211, a cylinder 212 and a truncated cone connected in sequence, the lower bottom surface of the truncated cone is connected to the front end surface of the aircraft body 1, and the first blade 22 is arranged around the cone 211, the cylinder 212 and the truncated cone. The first shaft column 21 is streamlined, that is, the airflow on the surface of the first shaft column 21 is not obviously separated, and it is smooth. Specifically, the streamline of the first shaft column 21 is that the bottom surface of the cone 211 in the first shaft column 21 is consistent in shape and size with the bottom surface of the cylinder 212, and the two fit closely. At the same time, the bottom surface of the cylinder 212 is consistent in size with the upper bottom surface of the truncated cone, and the two fit closely; there will be no situation where the bottom surface of the cylinder 212 protrudes from the bottom surface of the cone 211 or the upper bottom surface of the truncated cone 213 protrudes from the bottom surface of the cylinder 212. Preferably, the maximum diameter of the first ice blade 2 is 1500 mm, the minimum diameter is 600 mm, the length is 1500 mm, the height of the first blade 22 is 200 mm, the thickness of the first blade 22 is 20 mm, and the pitch of the first blade 22 is 500 mm. The streamlined structural design of the first ice blade 2 enables the icebreaking device 100 to have a better drag reduction effect when sailing underwater in polar ice areas.

[0052] Also, see Figure 3 As shown, the first blade 22 of the first ice blade 2, which is arranged near the bottom surface of the truncated cone, protrudes from the outer wall of the aircraft body 1. During the navigation and icebreaking process, the first ice blade 2 first breaks the ice in front, and because the first blade 22 of the first ice blade 2, which is arranged near the bottom surface of the truncated cone, protrudes from the outer wall of the aircraft body 1, that is, the projection area of ​​the first blade 22 in the vertical direction will be larger than the projection area of ​​the aircraft body 1, at this time, the area of ​​the hole formed by the ice broken by the first ice blade 2 is larger than the aircraft body 1, which can protect the aircraft body 1 from being hit by the ice and smoothly pass through the hole.

[0053] In the present application, at least two propellers 4 are provided in the icebreaking device 100. As one specific implementation of the present application, there are four propellers 4 in the icebreaking device 100, and the four propellers 4 are evenly arranged on the same vertical section at the tail end of the aircraft body 1.

[0054] The propeller 4 includes a pod housing 41 and propeller blades 4 arranged on the pod housing 41. The pod housing 41 is a high-strength streamlined shape, and the propeller blades 4 are also made of high-strength material. The propeller 4 is driven to rotate by the driving mechanism 6 to generate a backward water flow thrust to push the ice-breaking device 100 to move. When the ice-breaking device 100 needs to turn, the propeller 4 can rotate around its axis by a certain angle, thereby changing the direction of the thrust.

[0055] Preferably, the propeller 4 in the present application uses an azimuth propeller 4, which has the ability to rotate 360 ​​degrees and is responsible for providing the thrust required for the ice-breaking device 100 to move forward and turn, and can adjust the direction and magnitude of the thrust as needed. Figure 3 As shown, the edge of the propeller 4 blades in the propeller 4 protrudes from the surface where the outer wall of the aircraft body 1 is located. Such an arrangement enables the icebreaking device 100 to break ice when retreating. The high-strength propeller 4 blades in the propeller 4 can mill the ice layer when rotating backward, thereby improving the icebreaking efficiency of the aircraft.

[0056] In the present application, the second ice blade 3 is arranged on both sides of the bottom of the aircraft body 1, including a rotatable second shaft column 31 and a second blade 32 arranged around the second shaft column 31. The second shaft column 31 will rotate under the drive of the driving mechanism 6, and at the same time drive the second blade 32 arranged on the second shaft column 31. The second ice blade 3 can drill the ice layer, and the second blade 32 in the second ice blade 3 arranged on both sides rotates in opposite directions around the second shaft column 31. Referring to FIG7, the second ice blade 3 of the present application is observed from the rear end to the front end of the ice breaking device 100, as shown in FIG7(a), the second ice blade 3 arranged on the left side adopts a left-handed blade; as shown in FIG7(b), the second ice blade 3 arranged on the right side adopts a right-handed blade.

[0057] The second ice blade 3 can cut the ice surface 200 to assist in breaking ice, and can also move sideways on the ice layer. Specifically, when moving sideways, when the second ice blades 3 on both sides rotate in the same direction at the same time, due to the ice-adhering movement, part of the second blade 32 of the second ice blade 3 will generate friction with the surface of the ice layer, thereby generating a lateral propulsion force; and when the second ice blades 3 on both sides rotate in different directions at the same time, a propulsion force can be generated to move the ice-breaking device 100 forward. The second ice blade 3 can not only cut and break ice, but also help the ice-breaking device 100 to move flexibly in the ice layer environment.

[0058] See also Figure 2As shown, the second shaft column 31 is composed of a main shaft 311 and a buffer portion 312 arranged at both ends of the main shaft 311, wherein the main shaft 311 is cylindrical, the buffer portion 312 is conical, and the bottom surface of the conical buffer portion 312 is connected to the bottom surface of the main shaft 311. Preferably, the maximum diameter of the second ice blade 3 is 400mm, the minimum diameter is 240mm, the length is 4200mm, the height of the second blade 32 is 70mm, the thickness of the second blade 32 is 20mm, and the pitch of the second blade 32 is 500mm. Since the second ice blade 3 can move on the ice layer, the ratio of the height of the second blade to the diameter of the main shaft 311 is 0.15 to 0.2. If the ratio of the height of the second blade to the diameter of the main shaft 311 exceeds this range, due to the excessive height of the second blade 32, the cutting depth when moving on the ice layer will be greater, resulting in the need to overcome greater resistance when moving, thereby causing the ice breaking device 100 to be unable to move normally on the ice layer.

[0059] The ice-breaking equipment 100 also includes a posture sensor, a force sensor, a camera mechanism, and an imaging mechanism. Among them, the aircraft body 1, the first ice blade 2, the propeller 4, and the second ice blade 3 are all provided with a posture sensor and a force sensor. The posture sensor is used to detect the posture of the aircraft body 1, the first ice blade 2, the propeller 4, and the second ice blade 3, that is, the direction and position of the aircraft body 1, the first ice blade 2, the propeller 4, and the second ice blade 3; the force sensor is used to detect the force exerted on the aircraft body 1, the first ice blade 2, the propeller 4, and the second ice blade 3, and detects it so as to adjust the use status of the aircraft body 1, the first ice blade 2, the propeller 4, and the second ice blade 3 in a targeted manner; the camera mechanism is arranged on the outer wall of the aircraft body 1, and the camera mechanism is used to collect images of marine life; the imaging mechanism is arranged inside the aircraft body 1, and the imaging mechanism is used to draw the seabed terrain environment in the polar region.

[0060] See also Figure 1 As shown, in some optional embodiments of the present invention, two grooves 11 are opened at the bottom of the aircraft body 1, the grooves 11 are recessed inward and are in a right angle shape, two second ice blades 3 are respectively arranged in the two grooves 11, one groove 11 is equipped with a second ice blade 3, a connecting rod 33 is arranged in the second shaft column 31, and the second ice blade 3 is installed in the groove 11 through the connecting rod 33.

[0061] A groove 11 is provided at the bottom of the aircraft body 1 to install the second ice blade 3. On the one hand, the size of the entire ice-breaking device 100 can be reduced. On the other hand, it can prevent the second ice blade 3 from directly colliding with ice cubes, floating objects, etc., thereby protecting the second ice blade 3. At the same time, the related structure connecting the second ice blade 3 with the aircraft body 1 is also protected, thereby improving the safety and stability of the ice-breaking device 100, reducing maintenance costs, and extending the service life of the ice-breaking device 100.

[0062] See also Figure 3 As shown, in the present embodiment, the second blade 32 is arranged to protrude from the side wall of the bottom of the aircraft body 1. Such an arrangement enables the second ice blade 3 to not only cut and break the ice surface 200, but also to move laterally on the ice layer. If the second ice blade 3 is not arranged to protrude from the bottom of the aircraft body 1, the second ice blade 3 cannot move laterally on the ice layer.

[0063] Specifically, see Fig.14 As shown, the installation position of the second ice blade arranged in the groove should meet the following conditions:

[0064]

[0065] The center of the cross section of the aircraft body is taken as the point of the base surface, R is the radius of the aircraft body, r is the radius of the second ice blade, and h is A is the blade height of the second ice blade, and the installation position of the second shaft column in the second ice blade is recorded as O A (x,y); y w is the position of the upper wall in the groove, x w is the position of the side wall in the groove.

[0066] Specifically, because the center of the cross section of the aircraft body is used as the point of the base surface, a two-dimensional coordinate axis is established based on it, including a horizontal axis and a vertical axis. The installation position of the second axis column in the second ice blade is recorded as O A (x, y), x is the horizontal coordinate, y is the vertical coordinate, O A (x, y) is the coordinate position of the second axis column in the second ice blade. Because the upper wall of the groove is parallel to the horizontal axis of the coordinate axis, the position of the upper wall of the groove is expressed as y w Since the side walls of the groove are parallel to the longitudinal axis of the coordinate axis, the position of the upper wall of the groove is represented by x w .

[0067] In the present application, the installation position of the second ice blade in the groove is limited. On the one hand, it is to avoid the distance between the second ice blade and the groove being too small, which may cause the second ice blade to damage the wall of the groove during rotation, and ice cubes may be stuck between the distances and unable to fall off; on the other hand, it is to avoid the distance between the second ice blade and the groove being too large, which may cause the overall structure to be set irrationally. By limiting the installation position of the second ice blade in the groove, the occurrence of the above situation is reduced.

[0068] According to an embodiment of the present invention, the present invention further provides a controller 5, comprising: at least one processor, including an ice layer measurement and control module, a drilling measurement and control module and an ice surface 200 measurement and control module; a memory connected to the at least one processor in communication; the ice layer measurement and control module is used to transmit an acoustic wave signal, measure the time difference between the acoustic wave signal from the emission to the reflected receiving wave when encountering the ice layer and the water layer, calculate the ice layer thickness in combination with the speed of the acoustic wave in the ice layer, and send the ice layer thickness to the drilling measurement and control module and the ice surface 200 measurement and control module, and at the same time, draw the polar seabed terrain environment and collect images of marine life in combination with the camera mechanism and imaging mechanism of the icebreaking equipment 100;

[0069] The drilling measurement and control module is used to receive the ice layer thickness, adjust the propulsion rate of the propeller 4 in the ice-breaking device 100, the use of the first ice blade 2 and the second ice blade 3 according to the ice layer thickness, monitor and collect the posture and orientation of the ice-breaking device 100 and the first ice blade 2 and the second ice blade 3 in real time, obtain monitoring data, and transmit the monitoring data to the ice surface 200 measurement and control system;

[0070] The ice surface 200 measurement and control module is used to receive the ice layer thickness transmitted by the ice layer measurement and control module and the monitoring data transmitted by the drilling measurement and control module, and control the ice breaking device 100 according to the monitoring data.

[0071] According to an embodiment of the present invention, the present invention further provides an ice-breaking system, comprising the above-mentioned ice-breaking device 100 and the above-mentioned controller 5 , wherein the controller 5 is used to control the operating state and use of the ice-breaking device 100 .

[0072] See also Fig.15 As shown, the present invention also provides an ice breaking method, the steps comprising:

[0073] S1: Calculate the thickness of the ice layer through sound waves;

[0074] S2: obtaining a picture of the ice layer by using a camera and imaging technology, and obtaining a volume of the ice layer according to the picture of the ice layer;

[0075] S3: judging the type of the ice layer based on the ice layer volume and the ice layer thickness, the ice layer being divided into: a first ice layer environment, a second ice layer environment, a third ice layer environment, and a fourth ice layer environment;

[0076] S4: When the ice layer environment is the first type, the ice-breaking device starts to use the propeller, the ice-breaking device is moved forward by the propeller, and the first ice blade is used to directly hit the ice layer;

[0077] When the second ice layer environment occurs, the ice-breaking device is started to use the propeller and the first ice blade, the propeller is used to move the ice-breaking device forward, and the first ice blade is used to break the ice layer;

[0078] When the ice layer environment is the third type, the ice-breaking device is started to use the propeller, the first ice blade and the second ice blade, the propeller is used to move the ice-breaking device forward, the second ice blade is used to cut the ice layer, and the first ice blade is used to break the ice layer;

[0079] When it is the fourth type of ice layer environment, the ice-breaking device is started and uses the propeller, the first ice blade and the second ice blade. The propeller is used to move the ice-breaking device forward, and the turned-on first ice blade, the second ice blade and the propeller are used to break the ice layer to form multiple breaking points, thereby breaking the ice layer.

[0080] Specifically, in S1, the sound wave signal is emitted by the ice layer measurement and control module. The time taken for the sound wave signal to be reflected and received when encountering the ice layer is measured, and the time taken for the sound wave signal to be reflected and received when encountering the ice layer is measured. The time difference is calculated by subtracting the two, and the time difference is combined with the transmission speed of the sound wave in the ice layer to calculate the thickness of the ice layer.

[0081] In S2, the image of the ice layer is obtained by using the camera and imaging techniques of the camera mechanism and the imaging mechanism. The camera mechanism is arranged on the outer wall of the vehicle body, and can take pictures of the external ice layer, and then display it through the imaging mechanism.

[0082] In S3, the ice environment is divided according to the ice thickness and ice size, and can be divided into: the first ice environment, the second ice environment, the third ice environment, and the fourth ice environment. Among them, the first ice environment is a thin ice environment, and the ice layer in the thin ice environment is sea ice with a thickness not exceeding 0.5m, which is commonly one-year ice, new ice, etc.; the second ice environment is small-scale broken ice and large floating ice in the broken ice area, and the ice thickness is usually in the range of 0.5-1.0m, and the size of broken ice and floating ice is about 0.5-8m; the third ice environment is thicker flat ice, and its thickness is generally between 0.3-2m, and the size of ice is generally between tens and thousands of meters; the fourth ice environment is polar ice, and its ice thickness is generally between 2-5m, which is commonly multi-year ice, and the coverage of multi-year ice is huge and continuous.

[0083] In S4, the four ice environments divided in S3 correspond to four ice-breaking methods:

[0084] When the first ice environment is present, see Figure 8As shown, the ice-breaking device is started and uses a propeller, and the propeller is used to make the ice-breaking device move forward, and the first ice blade is used to directly hit the ice layer; wherein, the ice-breaking device 100 only starts the propeller 4, and there is no need to start other structures, the propeller 4 is used to make the ice-breaking device 100 move forward in a desired direction, and the first ice blade 2 located at the front end of the ice-breaking device 100 is used to directly hit and break the thin ice, and this ice-breaking based on the kinetic energy of the ice-breaking device 100 can be an oblique upward impact, a vertical upward impact, etc.;

[0085] When the second ice environment is present, see Fig. 9 As shown, the ice-breaking device is started to use the propeller and the first ice blade, the propeller is used to make the ice-breaking device move forward, and the first ice blade is used to break the ice layer; wherein, the small-scale broken ice and the large floating ice are places with relatively high strength, and the gap area of ​​the floating ice is a weak link, the ice-breaking device 100 is started to use the propeller 4 and the first ice blade 2, the propeller 4 is used to make the ice-breaking device 100 move forward, and the first ice blade 2 is used to break the gap area of ​​the floating ice to achieve the purpose of breaking the floating ice;

[0086] When the third ice environment is used, see Fig.10 As shown, the ice-breaking device is started using the propeller, the first ice blade and the second ice blade. The propeller is used to move the ice-breaking device forward, the opened second ice blade is used to cut the ice layer, and then the opened first ice blade is used to break the ice layer; wherein, the second ice blade 3 is used to cut the bottom of the flat ice, and when necessary, it is cut in coordination with the propeller 4, and finally the first ice blade 2 is used to drill the ice in the thinner area after cutting to achieve ice breaking.

[0087] When the fourth ice environment, see Fig.11 As shown, the ice-breaking device is started and uses the propeller, the first ice blade and the second ice blade, and the ice-breaking device is moved forward by the propeller, and the turned-on first ice blade, the second ice blade and the propeller are used to break the ice layer to form multiple breaking points, thereby breaking the ice layer; wherein, the propeller 4, the first ice blade 2 and the second ice blade 3 are started and used, and all the above structures are coordinated to break the breaking points one by one at specific or weak places of the ice layer, and the ice mechanics and strength properties of the overall large-sized ice are destroyed through multiple breaking points, and finally a whole large broken area is formed.

[0088] After completing the icebreaking, the icebreaking device 100 can navigate under the ice close to the ice layer by means of the second ice blades 3 arranged on both sides of the bottom; the icebreaking device 100 can also navigate to the ice surface 200 by starting the synergistic effect of the propeller 4 and the second ice blade 3, and navigate on the ice surface 200.

[0089] The icebreaking method of the present invention can select a corresponding icebreaking mode according to the ice layer environment in which the icebreaking device is sailing, and different icebreaking modes are achieved by selectively starting the first ice blade, the second ice blade and the propeller in the icebreaking device, thereby improving the icebreaking efficiency of the icebreaking device. The icebreaking mode of the icebreaking device of the present invention is friendly to the polar environment, does not generate waste, does not cause pollution to the polar environment, and can achieve the purpose of green environmental protection.

[0090] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. An ice breaking device, characterized in that: include: an aircraft body, wherein the tail end of the aircraft body is tapered; a first ice blade disposed at the front end of the aircraft body, the first ice blade comprising a rotatable first shaft column and a first blade disposed around the first shaft column, and an end of the first shaft column away from the aircraft body is tapered; A propeller disposed on the tail end of the aircraft body; The second ice blades are arranged on both sides of the bottom of the aircraft body, and the second ice blades include a rotatable second shaft column and a second blade arranged around the second shaft column.

2. The ice breaking device according to claim 1, characterized in that: The first shaft column is composed of a cone, a cylinder and a frustum connected in sequence, the lower base surface of the frustum is connected to the front end surface of the aircraft body, and the first blade is arranged around the cone, the cylinder and the frustum; the first shaft column is streamlined, and the first blade arranged close to the lower base surface of the frustum protrudes from the outer wall of the aircraft body.

3. The ice breaking device according to claim 1, characterized in that: The second shaft column is composed of a main shaft and buffer parts arranged at both ends of the main shaft. The ratio of the height of the second blade to the diameter of the main shaft is 0.15-0.2, and the second blades in the two second ice blades rotate in opposite directions around the second shaft column.

4. The ice breaking device according to claim 3, characterized in that: Two grooves are provided at the bottom of the aircraft body, and the two second ice blades are respectively arranged in the two grooves. A connecting rod is provided in the second shaft column, and the second ice blade is installed in the groove through the connecting rod. The second blade protrudes from the side wall of the bottom of the aircraft body.

5. The ice breaking device according to claim 4, characterized in that: The installation position of the second ice blade arranged in the groove should meet the following conditions: The center of the cross section of the aircraft body is taken as the point of the base surface, R is the radius of the aircraft body, r is the radius of the second ice blade, and h is A is the blade height of the second ice blade, and the installation position of the second shaft column in the second ice blade is denoted as O A (x,y); y w is the position of the upper wall in the groove, x w is the position of the side wall in the groove.

6. The ice breaking device according to claim 1, characterized in that: The propeller comprises a pod shell and propeller blades arranged on the pod shell, and the edges of the propeller blades protrude from the surface where the outer side wall of the aircraft body is located.

7. The ice breaking device according to claim 1, characterized in that: The icebreaking equipment also includes a posture sensor, a force sensor, a camera mechanism, and an imaging mechanism; the posture sensor and the force sensor are all provided on the vehicle body, the first ice blade, the propeller, and the second ice blade; the camera mechanism is provided on the outer side wall of the vehicle body, and is used to collect images of marine life; the imaging mechanism is provided inside the vehicle body, and is used to draw the seabed terrain environment in the polar region.

8. A controller, characterized in that: include: at least one processor, including an ice layer measurement and control module, a while-drilling measurement and control module, and an ice surface measurement and control module; a memory communicatively coupled to the at least one processor; The ice layer measurement and control module is used to transmit an acoustic wave signal, measure the time difference between the acoustic wave signal being transmitted and the reflected receiving wave when encountering an ice layer and a water layer, calculate the thickness of the ice layer in combination with the speed of the acoustic wave in the ice layer, and send the thickness of the ice layer to the drilling measurement and control module and the ice surface measurement and control module, and at the same time, in combination with the camera mechanism and imaging mechanism of the icebreaking equipment of claims 1 to 7, draw the polar seabed terrain environment and collect images of marine life; The drilling measurement and control module is used to receive the ice layer thickness, adjust the propulsion rate of the propeller in the ice-breaking equipment of claims 1 to 7, the use of the first ice blade and the second ice blade according to the ice layer thickness, monitor and collect the posture and orientation of the ice-breaking equipment and the first ice blade and the second ice blade in real time, obtain monitoring data, and transmit the monitoring data to the ice surface measurement and control system; The ice surface measurement and control module is used to receive the ice layer thickness transmitted by the ice layer measurement and control module and the monitoring data transmitted by the drilling measurement and control module, and control the ice breaking equipment according to the monitoring data.

9. An ice breaking system, characterized in that: It comprises the ice-breaking device according to claims 1 to 7 and the controller according to claim 8, wherein the controller is used to control the operating state and use of the ice-breaking device.

10. An ice-breaking method, characterized in that: include: Calculate ice thickness through sound waves; Obtain a picture of the ice layer by using camera and imaging technology, and obtain the size of the ice layer according to the picture of the ice layer; The type of the ice layer is determined by combining the ice layer thickness and the ice layer size, and the ice layer is divided into: a first ice layer environment, a second ice layer environment, a third ice layer environment, and a fourth ice layer environment; When the ice layer environment is the first type, the ice-breaking device starts to use the propeller, the ice-breaking device is moved forward by the propeller, and the first ice blade is used to directly hit the ice layer; When the second ice layer environment occurs, the ice-breaking device is started to use the propeller and the first ice blade, the propeller is used to move the ice-breaking device forward, and the first ice blade is used to break the ice layer; When the ice layer environment is the third type, the ice-breaking device is started to use the propeller, the first ice blade and the second ice blade, the propeller is used to move the ice-breaking device forward, the second ice blade is used to cut the ice layer, and the first ice blade is used to break the ice layer; When it is the fourth type of ice layer environment, the ice-breaking device is started and uses the propeller, the first ice blade and the second ice blade. The propeller is used to move the ice-breaking device forward, and the turned-on first ice blade, the second ice blade and the propeller are used to break the ice layer to form multiple breaking points, thereby breaking the ice layer.

Images