Ice surface transportation device based on buoyancy support of underwater vehicle

Abstract

The invention discloses an ice surface traffic transportation device based on buoyancy support of an underwater vehicle. The ice surface traffic transportation device comprises transportation equipment arranged on the ice surface and the underwater vehicle located below the ice surface. The transportation equipment runs on the ice surface by adopting a rubber track so as to disperse the pressure on the ice surface. The underwater vehicle shares or supports a part of pressure of the transportation equipment on the ice surface by regulating and controlling buoyancy through the rubber track, and realizes synchronous movement with the transportation equipment by combining an ultrasonic positioning or visual tracking technology, so as to reduce the risk of breakage of the ice surface. In addition, through a multi-point pressure sensor and a wireless communication module on the underwater vehicle, the ice surface stress condition can be monitored in real time, and buoyancy can be dynamically adjusted. By means of the technical scheme, the method has the advantages of being easy and convenient to operate, safe, reliable and high in adaptability in ice surface transportation in polar regions or cold regions.

Description

Technical Field

[0001] The invention relates to the technical field of ice surface transportation, and in particular to an ice surface transportation device based on the buoyancy support of a submersible. Background Art

[0002] With the growing demand for polar exploration, cold region resource development and winter transportation, transporting large or heavy equipment on ice has become a challenging task. In the prior art, specially designed crawler vehicles, snowmobiles or trucks equipped with anti-skid chains and reinforced chassis are often used for ice transportation. However, these transportation equipment often exerts a large pressure on the ice surface. Once the ice surface is not thick or strong enough, it is easy to crack or collapse, causing safety hazards.

[0003] On the other hand, in order to enhance the carrying capacity of the ice surface, some schemes have tried to lay floating bodies or set up floating bridge structures under the ice surface. However, due to the relatively fixed distance between the ice surface and the floating bodies, these floating bodies are difficult to adapt to the complex and changing water depth and load requirements. In addition, if you want to assist in the transportation of equipment under the ice surface in real time, you need a submersible with power and position control capabilities. However, most existing submersibles focus on underwater detection or cruising functions, and lack a complete solution for how to move synchronously with ice surface transportation equipment and share weight.

[0004] Therefore, how to design a transportation device that can provide buoyancy support to transportation equipment under the ice surface and move synchronously with it has become a technical problem that needs to be solved urgently in the field of ice transportation. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention discloses an ice surface transportation device based on the buoyancy support of a submersible, which can reduce the bearing pressure of the ice surface on the transportation equipment in an environment where the ice layer strength is limited or there is a risk of cracking, so as to prevent or reduce ice cracking and meet the dynamic load requirements of the transportation equipment, thereby ensuring the safety of ice surface transportation.

[0006] The present invention provides an ice surface transportation device based on the buoyancy support of a submersible, comprising: a transportation device and a submersible; the transportation device is arranged on the ice surface and can travel on the ice surface;

[0007] The submersible is located below the ice surface and aligned with the lower area of ​​the transport equipment;

[0008] The submersible shares or supports part of the pressure of the transport equipment on the ice surface through a buoyancy control structure with adjustable buoyancy, and the submersible and the transport equipment achieve real-time synchronous movement through a positioning system, thereby reducing the risk of ice breakage during ice transportation.

[0009] The transport equipment includes a tracked vehicle and an ultrasonic emission system, wherein the tracked vehicle is equipped with rubber tracks for dispersing the pressure of the transport equipment on the ice surface to reduce the risk of ice surface cracking;

[0010] The ultrasonic transmitting system includes a plurality of ultrasonic transmitters, the transmitting direction of the transmitters is toward the submersible, and ultrasonic signals of different frequencies can be emitted to prevent mutual interference between ultrasonic transmitters at different positions, so as to improve positioning accuracy.

[0011] The submersible is provided with an ultrasonic receiving system, which includes a plurality of ultrasonic receivers, and each ultrasonic transmitter corresponds to at least three ultrasonic receivers;

[0012] There are no obstructions between each ultrasonic receiver and its corresponding transmitter. After receiving the signal, the relative position of the transport equipment and the submersible is calculated using triangulation or other positioning methods, and the position of the submersible is dynamically adjusted through the submersible's power system to ensure that the submersible is always aligned directly below the transport equipment.

[0013] Preferably, a rubber track corresponding to the track of the transport equipment is provided on the top of the submersible, and the rubber track is used to support the area where the track of the transport equipment is located, so that the track of the transport equipment is always located directly above the track of the submersible, thereby improving the stability of the device and realizing synchronous movement while the buoyancy support of the submersible is provided.

[0014] The buoyancy control structure with adjustable buoyancy includes a water storage tank or a ballast tank and an energy tank, which adjusts the buoyancy of the submersible by filling and discharging water or inflating and exhausting air to ensure the stability of the ice surface while providing sufficient support to maintain the normal operation of the transportation equipment.

[0015] The submersible is provided with multiple pressure sensors for real-time monitoring of the pressure distribution of the ice surface, and dynamically adjusting the buoyancy of the submersible based on the feedback data of the sensors, or prompting the transport equipment to change the driving path, or changing the distribution of the cargo carried by the transport equipment to avoid excessive local pressure leading to ice rupture.

[0016] Further preferably, the submersible and the transport equipment can perform auxiliary positioning through visual tracking in addition to synchronous movement through ultrasonic positioning;

[0017] Further optimization: when the ice layer is transparent, a laser or a marker light is installed on the transport equipment to emit a recognizable optical signal to the submersible. The submersible recognizes and tracks the optical signal in real time through an optical sensor or camera on its top, and the motion trajectory is adjusted by the power system of the submersible.

[0018] The submersible is equipped with propulsion / steering components such as rudders and propellers, which, combined with the power system, can achieve flexible underwater movement and position adjustment to ensure synchronization and alignment with the transportation equipment in a changing ice environment.

[0019] In order to improve the reliability of the transport device, the device is equipped with a wireless communication module, and data exchange between the transport equipment and the submersible is achieved wirelessly;

[0020] The communication signal includes at least ultrasonic positioning information, operating status of transportation equipment, buoyancy and power system parameters of the submersible, pressure sensor monitoring data and visual tracking information, so as to carry out real-time control and safety monitoring.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] (1) The ice transportation device based on the buoyancy support of the submersible designed in the present invention supports the ice surface by using the buoyancy of the submersible under the ice surface, thereby greatly reducing the concentrated pressure of the transportation equipment on the ice surface, greatly reducing the risk of icebreaking, and solving the transportation problem when the strength of the ice layer is limited and cannot effectively support the transportation equipment alone.

[0023] (2) The ice surface transportation device based on the buoyancy support of the submersible designed in the present invention combines ultrasonic positioning and visual tracking, so that the submersible and the transportation equipment are always aligned and synchronized with high precision, thereby improving the effectiveness of load-bearing and support.

[0024] (3) The ice surface transportation device based on the buoyancy support of the submersible designed in the present invention performs real-time pressure monitoring and buoyancy control through multi-point pressure sensors and adjustable buoyancy structures, which can provide dynamic buoyancy support for the transportation equipment, thereby responding to changes in ice surface pressure distribution in a timely manner.

[0025] (4) The ice transportation device based on the buoyancy support of the submersible designed in the present invention is adaptable to a variety of application scenarios and can be widely used in polar scientific research, ice operations and other occasions to improve operational efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to better illustrate the technical features of the present invention, the present invention is further described below in conjunction with the accompanying drawings. The accompanying drawings schematically express the principles of the present invention and are not intended to limit the scope of the present invention.

[0027] Figure 1 It is a structural schematic diagram of the ice surface transportation device of the present invention;

[0028] Figure 2 A top view of the submersible in the present invention;

[0029] Figure 3 A bottom view of the transport equipment of the present invention;

[0030] Figure 4 It is a schematic diagram of the ultrasonic positioning principle for realizing synchronous positioning of the submersible and the transportation equipment in the present invention.

[0031] In the figure: 1-transportation equipment, 11-tracked vehicle, 12-ultrasonic transmitter, 13-wireless communication module, 111-rubber track, 2-submersible, 21-ultrasonic receiver, 22-rubber track, 23-buoyancy control structure, 24-pressure sensor, 25-wireless communication module, 26-rudder, 27-propeller. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments, but the embodiments of the present invention are not limited thereto.

[0033] Example 1

[0034] like Figure 1-Figure 3 As shown, an illustrative embodiment of the present invention discloses an ice surface transportation device based on the buoyancy support of a submersible, including: a transportation device 1 and a submersible 2.

[0035] Transport equipment 1

[0036] like Figure 1 As shown, the transport equipment 1 is arranged on the ice surface and can travel on the ice surface to load people or materials.

[0037] In this embodiment, the transport equipment 1 uses a tracked vehicle 11, and the rubber track 111 is made of rubber with low hardness and a large contact area with the ice surface to disperse the pressure of the tracked vehicle 11 on the ice surface, thereby reducing the risk of ice surface cracking.

[0038] Submariner 2

[0039] like Figure 1 As shown, the submersible 2 is located below the ice surface and aligned with the lower area of ​​the transport equipment 1 to provide support for the ice surface underwater.

[0040] like Figure 1 , Figure 2 As shown, at the top of the submersible 2, a rubber track 22 is also provided at a position corresponding to the rubber track 111 of the transport device 1, and the rubber track 22 interacts with the ice surface and can disperse the supporting pressure applied to the ice surface by the submersible 2. The rubber track 111 of the transport device 1 is always located directly above the rubber track 22 of the submersible 2, thereby improving the stability of the overall operation while providing buoyancy support for the submersible 2, and achieving synchronous movement of the two.

[0041] Positioning and synchronized motion

[0042] In order to achieve real-time synchronous movement between the transport device 1 and the submersible 2, this embodiment is provided with an ultrasonic positioning system, such as Figure 1 , Figure 2 The system is composed of a plurality of ultrasonic transmitters 12 on a tracked vehicle 11 and a plurality of ultrasonic receivers 21 on a submersible 2.

[0043] The ultrasonic transmitters 12 are distributed at the bottom or side of the tracked vehicle 11, and the transmitting direction faces the submersible 2. The ultrasonic transmitters 12 can transmit ultrasonic signals of different frequencies to avoid mutual interference between the ultrasonic transmitters 12, thereby improving the positioning accuracy.

[0044] The ultrasonic receiver 21 is arranged on the top or side of the submersible 2. Each ultrasonic transmitter 12 corresponds to at least three ultrasonic receivers 21, and there is no component blocking the ultrasonic receiver 21 and the ultrasonic transmitter 12. By receiving and measuring the distance of ultrasonic signal transmission, the relative position of the transport equipment 1 and the submersible 2 is calculated by using triangulation positioning or other positioning algorithms. Figure 4 The working mode of the transport equipment 1 and the submersible 2 for triangulation positioning through multi-ultrasonic transmitters and multi-ultrasonic receivers is shown as an example. When the position of the ultrasonic transmitter 12 changes, the distance received by the corresponding ultrasonic receiver 21 will change accordingly, and the horizontal displacement of the ultrasonic transmitter 12 can be calculated based on the change. When the transport equipment 1 deviates while driving on the ice, the power system of the submersible 2 can dynamically adjust the position and posture of the submersible 2 according to the deviation and direction measured by the ultrasonic receiver 21, so as to ensure that the submersible 2 is always aligned with the transport equipment 1 directly below.

[0045] Pressure monitoring and buoyancy adjustment

[0046] In order to improve the safety and stability of the device, in this embodiment, multiple pressure sensors 24 are arranged on the submersible 2, which are usually distributed on the top of the submersible 2 or in the rubber track 22 area.

[0047] When the rubber track 22 provides support to the ice surface, the pressure sensor 24 can monitor the force distribution there in real time and feed the data back to the control system.

[0048] The control system can perform the following operations based on the data from the pressure sensor 24:

[0049] Dynamically adjust the buoyancy of the submersible 2: change the buoyancy of the ballast tank or water storage tank by filling or discharging water or air;

[0050] Prompt the transport equipment 1 to change the driving route: If the ice surface pressure is too high at a certain place, the system will issue an alarm or suggest changing the transport route;

[0051] Redistribute the load of transport equipment 1: If allowed, change the distribution of the load within the vehicle to try to balance the pressure on the ice surface.

[0052] Through the above measures, the ice surface rupture caused by excessive local pressure can be avoided, and the safety of ice transportation can be effectively guaranteed.

[0053] Buoyancy control structure 23

[0054] The buoyancy control structure 23 with adjustable buoyancy in the submersible 2 includes a water storage tank or a ballast tank and an energy tank.

[0055] According to the changes in ice thickness and the load of the transport equipment 1, the control system can fill and drain the ballast tank or inflate and exhaust the water storage tank, thereby adjusting the buoyancy of the submersible 2.

[0056] When greater support force is needed, the ballast tank is drained or the water storage tank is inflated; when excessive buoyancy is not needed, water can be added to the ballast tank or air can be discharged from the water storage tank. In this way, sufficient support capacity is provided while ensuring the stability of the ice surface to maintain the normal travel of the transport equipment 1.

[0057] Example 2

[0058] In another embodiment of the present invention, a visual tracking function is further added to achieve higher precision or redundant synchronous positioning in specific environments.

[0059] Visual tracking assistance

[0060] When the ice layer has good transparency, lasers or marker lights may be installed around or at the bottom of the transport equipment 1 to emit recognizable optical signals.

[0061] An optical sensor or camera is installed on the top of the submersible 2 or at an appropriate position to capture and identify the above optical signals in real time and merge them with the ultrasonic positioning results.

[0062] The power system of Submersible 2 combines optical positioning information to further fine-tune the underwater position to ensure high-precision synchronization in extreme environments (such as when there is severe signal attenuation or uneven coverage).

[0063] Propulsion and steering

[0064] The submersible 2 is equipped with propulsion or steering components such as a rudder 26 and a propeller 27, and is combined with a power control system to achieve flexible underwater movement.

[0065] Even when encountering complex underwater terrain or ice deformation, the submersible 2 can still adjust its motion trajectory in time and maintain stable alignment with the transportation equipment 1, thereby improving overall adaptability and reliability.

[0066] Wireless communication module

[0067] In order to ensure data interaction and real-time monitoring during the transportation process, a wireless communication module is also set between the transportation equipment 1 and the submersible 2, including a wireless communication module 13 on the transportation equipment 1 and a wireless communication module 25 on the submersible 2.

[0068] The communication signals include but are not limited to:

[0069] Ultrasonic positioning information (such as signal strength, distance data, etc.);

[0070] The operating status of the transport equipment 1 (such as speed, direction, load, fuel / power, etc.);

[0071] The buoyancy and power system parameters of the submersible 2 (such as the amount of water in the ballast tank, the speed of the propeller 27, the angle of the rudder 26, etc.);

[0072] The pressure sensor 24 monitors the data;

[0073] Visual tracking information (such as target location, optical recognition results, etc.).

[0074] Real-time control and safety monitoring are achieved through wireless communication. If there are signs of ice cracking, system failure of the submersible 2, or abnormality of the transport equipment 1, the control system will promptly issue an alarm or execute an emergency plan.

[0075] Implementation Effect

[0076] Through the above technical means, the ice transportation device based on the buoyancy support of the submersible can:

[0077] Significantly reduce the local pressure of transportation equipment on the ice surface and reduce the risk of ice breaking;

[0078] With the help of multi-point pressure sensing and adjustable buoyancy structure, it provides safe and stable buoyancy support;

[0079] Combine ultrasonic positioning and visual tracking to ensure accurate alignment and dynamic synchronization between the submersible and the transport equipment;

[0080] Utilize wireless communications to achieve information sharing and collaborative control, improve operational efficiency and ensure real-time safety monitoring.

[0081] After reading this description, a person of ordinary skill in the art may make various modifications or substitutions to the structural form, material selection, system parameters and additional functions of the device without departing from the core concept of the present invention. These modifications or substitutions shall be regarded as equivalent replacement schemes of the present invention and fall within the protection scope of the present invention.

Claims

1. An ice transportation device based on the buoyancy support of a submersible, characterized in that: include: transport equipment and submersible vehicles; The transport equipment is arranged on the ice surface and can travel on the ice surface; The submersible is located below the ice surface and aligned with the lower area of ​​the transport equipment; The submersible shares or supports part of the pressure of the transport equipment on the ice surface through a buoyancy control structure with adjustable buoyancy, and the submersible and the transport equipment achieve real-time synchronous movement through a positioning system, thereby reducing the risk of ice breakage during ice transportation.

2. The ice transportation device based on the buoyancy support of a submersible according to claim 1 is characterized in that: The transport equipment includes a tracked vehicle and an ultrasonic emission system, wherein the tracked vehicle is equipped with rubber tracks for dispersing the pressure of the transport equipment on the ice surface to reduce the risk of ice surface cracking; The ultrasonic transmitting system includes a plurality of ultrasonic transmitters, the transmitting direction of the transmitters is toward the submersible, and the ultrasonic signals of different frequencies can be emitted to improve the positioning accuracy.

3. The ice transportation device based on the buoyancy support of a submersible according to claim 2 is characterized in that: The submersible is provided with an ultrasonic receiving system, which includes a plurality of ultrasonic receivers, and each ultrasonic transmitter corresponds to at least three ultrasonic receivers; There are no components blocking the way between each ultrasonic receiver and its corresponding ultrasonic transmitter. After receiving the signal, the relative position of the transport equipment and the submersible is calculated using triangulation or other positioning methods. The position of the submersible is dynamically adjusted through the power system of the submersible to ensure that the submersible is always aligned directly below the transport equipment.

4. The ice transportation device based on the buoyancy support of a submersible according to claim 1 is characterized in that: The top of the submersible is provided with rubber tracks corresponding to the tracks of the transport equipment. The rubber tracks are used to support the area where the tracks of the transport equipment are located, so that the tracks of the transport equipment are always located directly above the tracks of the submersible, thereby improving the stability of the device and achieving synchronous movement while providing buoyancy support for the submersible.

5. The ice transportation device based on the buoyancy support of a submersible according to claim 1 is characterized in that: The buoyancy control structure with adjustable buoyancy includes a water storage tank or a ballast tank and an energy tank, which adjusts the buoyancy of the submersible by filling and discharging water or inflating and exhausting air to ensure the stability of the ice surface while providing sufficient support to maintain the normal operation of the transportation equipment.

6. The ice transportation device based on the buoyancy support of a submersible according to claim 1 is characterized in that: The submersible is provided with multiple pressure sensors for real-time monitoring of the pressure distribution of the ice surface, and dynamically adjusting the buoyancy of the submersible based on the feedback data of the sensors, or prompting the transport equipment to change the driving path, or changing the distribution of the cargo carried by the transport equipment to avoid excessive local pressure leading to ice rupture.

7. The ice transportation device based on the buoyancy support of a submersible according to claim 1 is characterized in that: In addition to synchronous movement through ultrasonic positioning, the submersible and the transport equipment can also be assisted in positioning through visual tracking; When the ice layer is transparent, lasers or marker lights are installed on the transport equipment to emit recognizable optical signals to the submersible. The submersible identifies and tracks the optical signals in real time through the optical sensors or cameras on its top, and the motion trajectory is adjusted by the submersible's power system.

8. The ice transportation device based on the buoyancy support of a submersible according to claim 1 is characterized in that: The submersible is equipped with propulsion / steering components such as rudders and propellers, which, combined with the power system, can achieve flexible underwater movement and position adjustment to ensure synchronization and alignment with the transportation equipment in a changing ice environment.

9. The ice transportation device based on the buoyancy support of a submersible according to claim 1 is characterized in that: The device includes a wireless communication module, and data exchange between the transport equipment and the submersible is achieved wirelessly; The communication signal includes at least ultrasonic positioning information, operating status of transportation equipment, buoyancy and power system parameters of the submersible, pressure sensor monitoring data and visual tracking information, so as to carry out real-time control and safety monitoring.

Images