An icebreaking apparatus, controller, system and method

Abstract

The application discloses an ice breaking device, a controller, a system and a method, which comprise a vehicle body, the tail end of the vehicle body is conical, a first ice blade is arranged at the front end of the vehicle body, the first ice blade comprises a rotatable first shaft column and a first blade leaf arranged around the first shaft column, the end of the first shaft column away from the vehicle body is conical, a propeller is arranged on the tail end of the vehicle body, second ice blades are arranged on both sides of the bottom of the vehicle body, and the second ice blades comprise rotatable second shaft columns and second blade leaves arranged around the second shaft columns. According to the ice breaking method, the ice breaking device can be selected according to the ice area where the vehicle sails, the ice breaking method comprises the following steps: selecting the first ice blade to impact and drill the ice layer, selecting the second ice blade to cut the ice layer, and simultaneously selecting the first ice blade, the second ice blade and the propeller. The ice breaking device of the embodiment of the application does not produce waste when breaking ice, does not pollute the polar environment, and can achieve the purpose of green environmental protection.

Description

Technical Field

[0001] This invention relates to the field of ice-breaking technology, and more particularly to an ice-breaking device, controller, system, and method. Background Technology

[0002] In recent years, with global warming and melting ice sheets, the once tranquil Arctic and Antarctic have been disturbed by human needs, and their enormous energy resources and shipping advantages have been fully exploited, highlighting their strategic significance. Scientific research activities on polar environments, climate change, and marine ecosystems have become more in-depth and frequent. Precise detection and monitoring of the polar environment can provide scientific evidence for addressing global climate change and protecting the environment.

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

[0004] Existing icebreaking technologies, such as submersibles surfacing to break ice and explosive icebreaking, have low icebreaking efficiency and limited icebreaking capabilities. They are difficult to effectively break through thick ice layers, and explosive icebreaking methods not only easily affect the polar environment but also easily affect vehicles around the blast point. Summary of the Invention

[0005] This invention provides an ice-breaking device, controller, system, and method, which solves the technical problem of underwater icebreaking by setting ice-breaking blades at the front and sides of the main body of the vehicle.

[0006] To address the aforementioned technical problems, a first aspect of the present invention provides an ice-breaking device, characterized in that it comprises:

[0007] The main body of the aircraft, the tail end of which is tapered;

[0008] A first ice blade is disposed at the front end of the vehicle body. The first ice blade includes a rotatable first shaft and a first blade blade disposed around the first shaft. The end of the first shaft away from the vehicle body is tapered.

[0009] The propeller is mounted on the tail end of the main body of the aircraft;

[0010] The second ice blade is disposed on both sides of the bottom of the main body of the vehicle. The second ice blade includes a rotatable second shaft and a second blade blade disposed around the second shaft.

[0011] Furthermore, the first shaft column is composed of a cone, a cylinder, and a frustum connected in sequence. The lower bottom surface of the frustum is connected to the front end surface of the vehicle body. The first blade is arranged around the cone, the cylinder, and the frustum. The first shaft column is streamlined, and the first blade, which is located near the lower bottom surface of the frustum, protrudes from the outer side wall of the vehicle body.

[0012] Furthermore, the second shaft consists of a main shaft and buffer sections disposed at both ends of the main shaft. The height of the second blade is 0.15 to 0.2 times the diameter of the main shaft. The second blades of the two second ice blades rotate in opposite directions around the second shaft.

[0013] Furthermore, the bottom of the vehicle body has two grooves, and the two second ice blades are respectively disposed in the two grooves. A connecting rod is disposed in the second shaft column, and the second ice blades are installed in the grooves through the connecting rods. The second blade protrudes from the side wall of the bottom of the vehicle body.

[0014] Furthermore, the mounting position of the second ice blade within the groove should meet the following conditions:

[0015]

[0016] Wherein, the center of the cross-section of the vehicle body is taken as the point of the base plane, R is the radius of the vehicle body; r is the radius of the second ice blade, h A The blade height of the second ice blade is denoted as O, and the mounting position of the second shaft in the second ice blade is denoted as O. A (x,y); y w x represents the position of the upper wall in the groove. w The position of the sidewall in the groove.

[0017] Furthermore, the propeller includes a pod housing and propeller blades disposed on the pod housing, the edges of which protrude from the outer sidewall of the vehicle body.

[0018] Furthermore, the icebreaking device also includes an attitude sensor, a force sensor, a camera mechanism, and an imaging mechanism; the attitude sensor and the force sensor are all installed on the main body of the vehicle, the first ice blade, the propeller, and the second ice blade; the camera mechanism is installed on the outer wall of the main body of the vehicle and is used to collect images of marine life; the imaging mechanism is installed inside the main body of the vehicle and is used to map the polar seabed topography environment.

[0019] A second aspect of the present invention also provides a controller, comprising: 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; and a memory communicatively connected to the at least one processor; the ice layer measurement and control module is used to transmit acoustic signals, measure the time difference between the acoustic signals from transmission to encountering ice and water layers and the reflected received waves, calculate the ice layer thickness by combining the velocity of the acoustic waves 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 simultaneously combine the camera mechanism and imaging mechanism of the icebreaking equipment to draw images of the polar seabed topography and environment and collect images of marine life;

[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 equipment, the use of the first ice blade and the second ice blade according to the ice layer thickness, monitor and collect the attitude 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.

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

[0022] A third aspect of the present invention also provides an ice-breaking system, including the ice-breaking device and the controller described above, wherein the controller is used to control the operating status and use of the ice-breaking device.

[0023] A fourth aspect of this invention also provides an ice-breaking method, comprising: calculating the ice layer thickness using sound waves; acquiring an image of the ice layer using camera and imaging technology, and obtaining the ice layer volume based on the image; determining the type of ice layer by combining the ice layer thickness and the ice layer size, wherein the ice layer is classified 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 is activated using a propeller to propel 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 is activated using the propeller and the first ice blade, and the propeller... The propeller propels the ice-breaking device forward, breaking the ice layer with the activated first ice blade. In the third type of ice layer environment, the ice-breaking device is activated using the propeller, the first ice blade, and the second ice blade. The propeller propels the ice-breaking device forward, the activated second ice blade cuts the ice layer, and the activated first ice blade breaks the ice layer. In the fourth type of ice layer environment, the ice-breaking device is activated using the propeller, the first ice blade, and the second ice blade. The propeller propels the ice-breaking device forward, and the activated first ice blade, the second ice blade, and the propeller break the ice layer, creating multiple breaking points, thereby breaking the ice layer.

[0024] Compared with existing technologies, the icebreaking equipment, controller, system, and method provided by this invention have the following advantages: In this embodiment, a first ice blade is provided at the front end of the vehicle body. Because the end of the first shaft of the first ice blade furthest from the vehicle body is conical, it can directly impact the ice layer. When necessary, the first ice blade can be activated to drill through the ice layer. Second ice blades are provided on both sides of the bottom of the vehicle body, which can then cut the ice layer. This invention allows for selection of the icebreaking method based on the ice conditions of the navigation area, thereby improving the icebreaking efficiency of the icebreaking equipment. Furthermore, the icebreaking method of the icebreaking equipment is environmentally friendly, producing no waste and causing no pollution to the polar environment, thus achieving a green and environmentally friendly goal. Attached Figure Description

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

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

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

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

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

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

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

[0032] Figure 7(b) is a schematic diagram of the structure of the second ice blade on the right side according to an embodiment of the present invention;

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

[0034] Figure 9 This is a schematic diagram illustrating the ice-breaking device of the present invention in the context of breaking small-scale ice fragments and large pieces of floating ice.

[0035] Figure 10 This is a schematic diagram of the ice-breaking device of the present invention breaking ice in a flat ice environment with a large thickness;

[0036] Figure 11 This is a schematic diagram of the ice-breaking device of the present invention breaking ice under a large-sized ice structure.

[0037] Figure 12 This is a schematic diagram of the ice-breaking device of the present invention navigating close to the ice layer;

[0038] Figure 13 This is a schematic diagram of the ice-breaking device navigating onto the ice surface according to an embodiment of the present invention;

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

[0040] Figure 15 A flowchart of an ice-breaking method provided by the present invention.

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

[0042] 100. Icebreaking equipment; 1. Vehicle body; 11. Groove; 2. First ice blade; 21. First shaft; 211. Cone; 212. Cylinder; 213. Frustum; 22. First blade; 3. Second ice blade; 31. Second shaft; 311. Main shaft; 312. Buffer section; 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 Implementation

[0043] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0044] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0045] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0047] In the embodiments of the application, "parallel" refers to a state in which the angle formed by two lines, a line and a surface, or a surface is -1° to 1°. "Perpendicular" refers to a state in which the angle formed by two lines, a line and a surface, or a surface is 89° to 91°. Equal distances, equal angles, or equal areas refer to a state in which the tolerance range is -1% to 1%.

[0048] like Figures 1 to 14 As shown, an ice-breaking device 100 according to an embodiment of the present invention includes a vehicle body 1, a first ice blade 2, a propeller 4, a second ice blade 3, and a drive mechanism 6. The tail end of the vehicle body 1 is conical. The first ice blade 2 is disposed at the front end of the vehicle body 1. The first ice blade 2 includes a rotatable first shaft 21 and a first blade 22 disposed around the first shaft 21. The end of the first shaft 21 away from the vehicle body 1 is conical. The propeller 4 is disposed at the tail end of the vehicle body 1. The second ice blade 3 is disposed on both sides of the bottom of the vehicle body 1. The second ice blade 3 includes a rotatable second shaft 31 and a second blade 32 disposed around the second shaft 31. The drive 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 vehicle body 1 is shaped like a frustum, with the upper bottom surface located at the end away from the vehicle body 1; the rear end of the vehicle body 1 is shaped like a cone 211. The tail of the cone 211 helps to reduce the resistance encountered by the ice-breaking device 100 when it moves in water or air, making navigation smoother and improving speed and efficiency.

[0050] See Figure 6 As shown, the first ice blade 2 includes a rotatable first shaft 21 and a first blade 22 arranged around the first shaft 21. The first ice blade 2 is installed at the front end of the vehicle body 1, located at the very front of the vehicle body 1. The first shaft 21 and the first blade 22 in the first ice blade 2 are typically made of high-strength, high-wear-resistant materials. The first blade 22 is also equipped with a sharp cutting edge, which facilitates rapid and effective penetration of the ice layer. Preferably, the hull length (including the first ice blade) of the icebreaking device 100 is 8400 mm, and the diameter of the rotating body of the first ice blade is 1500 mm. When the drive mechanism 6 is not activated, the first ice blade 2 can impact the ice layer with its cone-shaped tip to break the ice. After the drive mechanism 6 is activated, the first shaft 21 will rotate under the drive of the drive mechanism 6, and at the same time drive the first blade 22 set on the first shaft 21. Both the first shaft 21 and the first blade 22 can destroy the ice layer. Compared with directly impacting the ice layer with the first ice blade 2, the damage to the first ice blade 2 is smaller in this state, and the destructive power to the ice layer is stronger.

[0051] Specifically, the first shaft column 21 is composed of a cone 211, a cylinder 212, and a frustum connected in sequence. The lower surface of the frustum is connected to the front end of the vehicle body 1. The first blade 22 is arranged around the cone 211, the cylinder 212, and the frustum. The first shaft column 21 is streamlined, meaning that the surface of the first shaft column 21 does not show obvious airflow separation and is smooth. Specifically, the streamlined shape of the first shaft column 21 means that the bottom surface of the cone 211 and the bottom surface of the cylinder 212 are the same shape and size, and the two fit tightly together. At the same time, the bottom surface of the cylinder 212 and the upper surface of the frustum are the same size, and the two fit tightly together. 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 surface of the frustum 213 protrudes from the bottom surface of the cylinder 212. Preferably, the first ice blade 2 has a maximum diameter of 1500mm, a minimum diameter of 600mm, a length of 1500mm, a height of 200mm, a thickness of 20mm, and a pitch of 500mm. The streamlined structural design of the first ice blade 2 provides better drag reduction for the icebreaking device 100 when navigating underwater in polar ice regions.

[0052] Additionally, see Figure 3 As shown, the first blade 22, located near the bottom surface of the truncated cone, protrudes from the outer wall of the main body 1 of the vehicle. During icebreaking, the first blade 2 first breaks the ice. Because the first blade 22, located near the bottom surface of the truncated cone, protrudes from the outer wall of the main body 1, the projected area of ​​the first blade 22 in the vertical direction is larger than the projected area of ​​the main body 1. Therefore, the area of ​​the hole created by the first blade 2 breaking the ice is larger than that of the main body 1, which can protect the main body 1 from being hit by ice and allow it to pass smoothly through the hole.

[0053] In this application, the ice-breaking device 100 has at least two propellers 4. As one specific implementation of this application, the ice-breaking device 100 has four propellers 4, which are evenly arranged on the same vertical section at the tail end of the vehicle body 1.

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

[0055] Preferably, in this application, the propeller 4 is a full-rotation propeller 4, which has the ability to rotate 360 ​​degrees and is responsible for providing the thrust required for the icebreaking device 100 to move forward and turn. The direction and magnitude of the thrust can be adjusted as needed. See also Figure 3 As shown, the edge of the propeller 4 blade protrudes from the outer wall of the vehicle body 1. This arrangement allows the ice-breaking device 100 to break ice when it is reversing. The high-strength propeller 4 blade can mill the ice layer when it rotates backward, thus improving the ice-breaking efficiency of the vehicle.

[0056] In this application, the second ice blade 3 is disposed on both sides of the bottom of the vehicle body 1, including a rotatable second shaft 31 and a second blade 32 disposed around the second shaft 31. The second shaft 31 rotates under the drive of the drive mechanism 6, which in turn drives the second blade 32 disposed on the second shaft 31. The second ice blade 3 can drill through the ice layer. The second blades 32 of the second ice blades 3 disposed on both sides rotate in opposite directions around the second shaft 31. Referring to Figure 7, the second ice blade 3 of this application is viewed from the rear end to the front end of the ice-breaking device 100. As shown in Figure 7(a), the second ice blade 3 disposed on the left side adopts a left-handed blade; as shown in Figure 7(b), the second ice blade 3 disposed on the right side adopts a right-handed blade.

[0057] The second ice blade 3 can cut the ice surface 200 to assist in ice breaking and can also move laterally on the ice. Specifically, when moving laterally, if both sides of the second ice blade 3 rotate in the same direction, due to the movement along the ice, part of the second blade 32 of the second ice blade 3 will generate friction with the ice surface, thereby generating lateral propulsion. When both sides of the second ice blade 3 rotate in different directions, they can generate propulsion 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 move flexibly in the ice environment.

[0058] See Figure 2As shown, the second shaft 31 consists of a main shaft 311 and buffer portions 312 disposed at both ends of the main shaft 311. The main shaft 311 is cylindrical, and the buffer portions 312 are conical, with the bottom surface of the conical buffer portion 312 connected to the bottom surface of the main shaft 311. Preferably, the second ice blade 3 has a maximum diameter of 400 mm, a minimum diameter of 240 mm, a length of 4200 mm, a height of 70 mm, a thickness of 20 mm, and a pitch of 500 mm. Since the second ice blade 3 can move on the ice, 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, the cutting depth of the second blade 32 will be greater when moving on the ice due to its excessive height, resulting in greater resistance during movement and preventing the ice-breaking device 100 from moving normally on the ice.

[0059] The icebreaking device 100 also includes attitude sensors, force sensors, a camera mechanism, and an imaging mechanism. Attitude sensors and force sensors are installed on the vehicle body 1, the first ice blade 2, the propeller 4, and the second ice blade 3. The attitude sensors detect the attitude of the vehicle body 1, the first ice blade 2, the propeller 4, and the second ice blade 3, that is, their orientation and position. The force sensors detect the forces acting on the vehicle body 1, the first ice blade 2, the propeller 4, and the second ice blade 3, allowing for targeted adjustments to their operational status. The camera mechanism is located on the outer wall of the vehicle body 1 and is used to acquire images of marine life. The imaging mechanism is located inside the vehicle body 1 and is used to map the polar seabed topography.

[0060] See Figure 1 As shown, in some optional embodiments of the present invention, the bottom of the vehicle body 1 is provided with two grooves 11, the grooves 11 are recessed inward and are right-angled, two second ice blades 3 are respectively disposed in the two grooves 11, one second ice blade 3 is installed in one groove 11, and a connecting rod 33 is disposed in the second shaft 31, and the second ice blade 3 is installed in the groove 11 through the connecting rod 33.

[0061] A groove 11 is made at the bottom of the main body 1 of the vehicle to install the second ice blade 3. On the one hand, it can reduce the size of the entire ice-breaking device 100. On the other hand, it can also prevent the second ice blade 3 from directly colliding with ice blocks, floating objects, etc., thus protecting the second ice blade 3. It also protects the related structures that connect the second ice blade 3 to the main body 1 of the vehicle, 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 Figure 3 As shown, in this embodiment, the second blade 32 protrudes from the side wall of the bottom of the vehicle body 1. This 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. If the second ice blade 3 does not protrude from the bottom of the vehicle body 1, it cannot move laterally on the ice.

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

[0064]

[0065] Wherein, the center of the cross-section of the vehicle body is taken as the point of the base plane, R is the radius of the vehicle body; r is the radius of the second ice blade, h A The blade height of the second ice blade is denoted as O, and the installation position of the second shaft column in the second ice blade is denoted as O. A (x,y); y w x represents the position of the upper wall in the groove. w This refers to the position of the sidewall in the groove.

[0066] Specifically, since the center of the cross-section of the vehicle's main body is used as the base point, a two-dimensional coordinate system is established, including the horizontal and vertical axes. The installation position of the second axis column in the second ice blade is denoted as O. A (x, y), where x is the x-coordinate and y is the y-coordinate, O A (x, y) represents the coordinates of the second axis column within the second ice blade. Since the upper wall of the groove is parallel to the horizontal axis of the coordinate system, the position of the upper wall in the groove is represented by y. w Because the sidewalls of the groove are parallel to the vertical axis of the coordinate system, the position of the upper wall in the groove is represented by x. w .

[0067] This application specifies the installation position of the second ice blade within the groove. This is done to prevent the distance between the second ice blade and the groove from being too small, which could damage the groove wall during rotation or cause ice blocks to become trapped and unable to fall out. It also prevents the distance from being too large, resulting in an unreasonable overall structural design. By limiting the installation position of the second ice blade within the groove, these issues are reduced.

[0068] According to an embodiment of the present invention, the present invention also 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; and a memory communicatively connected to the at least one processor; the ice layer measurement and control module is used to transmit acoustic wave signals, measure the time difference between the acoustic wave signals from transmission to encountering the ice layer and the reflected received waves when encountering the water layer, calculate the ice layer thickness by combining the velocity 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 simultaneously combine the camera mechanism and imaging mechanism of the icebreaking device 100 to draw images of the polar seabed topography and environment and collect images of marine organisms;

[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 attitude 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 monitoring and control module is used to receive the ice layer thickness transmitted by the ice layer monitoring and control module and the monitoring data transmitted by the drilling monitoring and control module, and to control the ice-breaking equipment 100 according to the monitoring data.

[0071] According to an embodiment of the present invention, the present invention also provides an ice-breaking system, including the ice-breaking device 100 and the controller 5, wherein the controller 5 is used to control the operating status and use of the ice-breaking device 100.

[0072] See Figure 15 As shown, the present invention also provides an ice-breaking method, the steps of which include:

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

[0074] S2: Obtain an image of the ice layer using camera and imaging technology, and determine the volume of the ice layer based on the image;

[0075] S3: Based on the ice layer volume and the ice layer thickness, determine the type of ice layer. The ice layer is divided into: first type of ice layer environment, second type of ice layer environment, third type of ice layer environment, and fourth type of ice layer environment.

[0076] S4: When the ice layer environment is the first type, the ice-breaking equipment starts using a propeller to propel the ice-breaking equipment forward and uses the first ice blade to directly impact the ice layer.

[0077] When the ice layer environment is of the second type, the ice-breaking device is activated by using the propeller and the first ice blade. The propeller propels the ice-breaking device forward, and the activated first ice blade breaks the ice layer.

[0078] When the ice layer environment is of the third type, the ice-breaking device is activated by using the propeller, the first ice blade and the second ice blade. The propeller propels 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 the ice layer environment is of the fourth type, the ice-breaking device is activated by using the propeller, the first ice blade and the second ice blade. The propeller propels the ice-breaking device forward, and the activated first ice blade, the second ice blade and the propeller 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 from the emission of the sound wave signal to the reflection and reception of the sound wave when it encounters the ice layer is measured, and the time difference between the two is obtained. The ice layer thickness can be calculated by combining the time difference with the transmission speed of the sound wave in the ice layer.

[0081] In S2, images of the ice layer are acquired through camera and imaging technology using a camera mechanism and imaging device. The camera mechanism is installed on the outer wall of the main body of the vehicle and can photograph the external ice layer, which is then displayed through the imaging device.

[0082] In S3, the ice environment is divided according to the ice thickness and size, and can be divided into: the first type of ice environment, the second type of ice environment, the third type of ice environment, and the fourth type of ice environment. The first type of ice environment is a thin ice environment, where the ice layer is no more than 0.5m thick, commonly one-year ice or new ice. The second type of ice environment consists of small-scale ice fragments and large ice floes in the ice-breaking zone, with an ice thickness typically between 0.5 and 1.0m, and ice fragments and floes ranging in size from 0.5 to 8m. The third type of ice environment is a relatively thick, flat ice layer, generally between 0.3 and 2m thick, with ice sizes ranging from tens to thousands of meters. The fourth type of ice environment is polar ice, with an ice thickness typically between 2 and 5m, commonly multi-year ice, which has a vast and continuous coverage area.

[0083] S4 corresponds to four ice-breaking methods based on the four ice layer environments identified in S3:

[0084] When it is the first type of ice environment, see Figure 8As shown, the ice-breaking device is activated by a propeller, which propels the device forward and directly impacts the ice layer with a first ice blade. The ice-breaking device 100 only activates the propeller 4, without needing to engage other structures. The propeller 4 propels the ice-breaking device 100 forward in the desired direction, and the first ice blade 2 located at the front of the ice-breaking device 100 directly impacts and breaks the thin ice. This ice-breaking method based on the kinetic energy of the ice-breaking device 100 can involve oblique upward impact, vertical upward impact, etc.

[0085] When the ice layer environment is of the second type, see [link / reference]. Figure 9 As shown, the ice-breaking device is activated using the propeller and the first ice blade. The propeller propels the ice-breaking device forward, and the activated first ice blade breaks the ice layer. Among these, small-scale ice fragments and large ice floes are relatively strong, while the gaps between ice floes are weak points. The ice-breaking device 100 is activated using the propeller 4 and the first ice blade 2. The propeller 4 propels the ice-breaking device 100 forward, and the activated first ice blade 2 breaks the gaps between ice floes to achieve the purpose of breaking the ice floes.

[0086] When it is a third type of ice environment, see Figure 10 As shown, the ice-breaking device is activated using the propeller, the first ice blade, and the second ice blade. The propeller propels 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. Specifically, the second ice blade 3 is used to cut the bottom of the flat ice, and the propeller 4 is used to assist in the cutting when necessary. Finally, the first ice blade 2 is used to drill through the thinner areas after cutting to break the ice.

[0087] When it is the fourth type of ice environment, see Figure 11 As shown, the ice-breaking device is activated using the propeller, the first ice blade, and the second ice blade. The propeller propels the ice-breaking device forward, and the activated first ice blade, second ice blade, and propeller break the ice layer to create multiple breaking points, thereby breaking the ice layer. Specifically, the propeller 4, the first ice blade 2, and the second ice blade 3 are activated, and all the above structures work together to break the ice layer one by one at specific or weak points. Through multiple breaking points, the ice mechanics and strength properties of the large-sized ice are damaged, finally forming a large broken area.

[0088] After breaking the ice, the ice-breaking device 100 can navigate close to the ice layer by using the second ice blades 3 set on both sides of the bottom; the ice-breaking device 100 can also navigate to the ice surface 200 by activating the propeller 4 and the second ice blades 3.

[0089] The icebreaking method of this invention can select the appropriate icebreaking mode according to the ice environment in which the icebreaking equipment is navigating. Different icebreaking modes are achieved by selectively activating the first ice blade, the second ice blade, and the propeller in the icebreaking equipment, thereby improving the icebreaking efficiency of the equipment. The icebreaking method of this invention is environmentally friendly to the polar environment, does not generate waste, and does not pollute the polar environment, thus achieving the goal of green environmental protection.

[0090] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. An icebreaking apparatus, characterized by The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness.

2. Icebreaking apparatus according to claim 1, characterized in that The application relates to a breaking-ice device and a method for measuring ice thickness.

3. Icebreaking apparatus according to claim 2, characterised in that The application relates to a breaking-ice device and a method for measuring ice thickness. wherein a center of a section of the vehicle body is taken as a base of a circle point, is a radius of the vehicle body; is a radius of the second ice blade, is a height of a blade of the second ice blade, and a mounting position of the second shaft column in the second ice blade is denoted as ; is a position of an upper wall in the groove, is a position of a side wall in the groove.

4. Icebreaking apparatus according to claim 1, characterized in that The application relates to a breaking-ice device and a method for measuring ice thickness.

5. A controller characterized by comprising: The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice device and a method for measuring ice thickness. The application relates to a breaking-ice The while-drilling measurement and control module is configured to receive the ice layer thickness, adjust the propelling speed of the propeller in the ice breaking device of claim 4, the use of the first ice blade and the second ice blade according to the ice layer thickness, monitor and collect the attitude and azimuth 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 module. The ice surface measurement and control module is configured to receive the ice layer thickness transmitted by the ice layer measurement and control module and the monitoring data transmitted by the while-drilling measurement and control module, and control the ice breaking device according to the monitoring data.

6. An icebreaking system characterized by The ice breaking device of claim 4 and the controller of claim 5 are included, and the controller is configured to control the operating state and use of the ice breaking device.

Images