Chemical energy ice penetrating buoy and method suitable for polar region ice region environment

Abstract

The invention provides a chemical energy ice penetrating buoy and method suitable for a polar region ice area environment, the buoy comprises an ice melting drill bit, the ice melting drill bit is connected with a chemical reaction heat release kettle cabin through an ice melting drill bit fixing plate, and the chemical reaction heat release kettle cabin is connected with an on-ice navigation communication cabin; the on-ice navigation communication cabin is connected with the front lateral propeller thruster, the front lateral propeller thruster is connected with the power source electric control cabin, the under-ice underwater navigation communication beacon laying device is installed outside the power source electric control cabin, and the power source electric control cabin is connected with the buoy tail propelling device. The buoy is arranged underwater by the polar region underwater robot, precise attitude determination is realized through two propellers and a tail vane, chemical heat energy penetrates through a polar region ice layer, communication connection between a scientific investigation ship, a communication navigation satellite and the polar region underwater robot is established, and balance of the ice penetrating process of the chemical heat energy ice penetrating buoy is ensured by using a propelling mechanism; the intelligent degree and the communication quality of the underwater buoy are improved, and the functionality and the integration of the polar buoy are enhanced.

Description

Technical Field

[0001] The present invention belongs to the field of underwater robots, and in particular relates to a chemical energy ice-penetrating buoy and method suitable for polar ice environment. Background Art

[0002] In recent years, with global warming, the melting of Arctic ice and snow has accelerated. The value of the Arctic in terms of strategy, security, economy, scientific research, environmental protection, waterways, resources, etc. has been continuously increasing, and has received the focus of attention from the international community. As human beings explore the polar regions in depth, autonomous underwater vehicles (AUVs) are playing an increasingly important role in polar scientific research, environmental monitoring and other fields. However, the extreme environment of polar ice and snow has brought great challenges to the operation of polar AUVs, especially the thick ice layer blocks the electromagnetic signal transmission of underwater vehicles, which seriously affects the effectiveness and stability of communication and navigation services.

[0003] At this time, a communication device is needed that can penetrate the thick polar ice layer and realize three-dimensional communication networking between polar scientific research vessels, polar AUVs and communication and navigation satellites on and under the ice. This is the polar communication and navigation buoy.

[0004] At present, polar communication and navigation buoys are mainly divided into three categories: (1) Towed ice-based buoys: They are mainly transported by helicopter and installed by drilling holes on the artificial ice surface. The labor cost of installation is high and the risk is high. (2) Drone-launched polar buoys: The buoys are inserted into the ice surface by drones. The success rate of penetrating ice is low, and due to their small size, limited load capacity and few functions. (3) Underwater ice-penetrating buoys: This type of buoy penetrates ice underwater through thermal energy or mechanical energy, and has high requirements on the posture of the buoy during the ice-penetration process.

[0005] Due to the need to improve the level of intelligence and serve underwater equipment, underwater ice-penetrating buoys are the best choice. The main underwater ice-penetrating technologies are as follows: (1) Mechanical drill ice-penetrating: It has high working efficiency, but requires stable fixed conditions, and the cost of the drill under the ice is high and the energy consumption is high. (2) Electric thermal energy ice-penetrating: It has good heat release stability, but the electric thermal energy requires a large amount of electricity. (3) Chemical thermal energy ice-penetrating: It has a high energy density and does not increase the energy consumption of electricity, but the heat release is not as stable as the electric thermal energy.

[0006] Since it needs to be transported by a polar underwater robot, the volume and weight of the buoy will be limited. In order to increase the use time of each communication and navigation module, the mechanical drill-type ice-penetration and electric thermal energy-type ice-penetration with high power consumption are excluded, and the chemical thermal energy-type ice-penetration is selected.

[0007] The attitude determination technologies of underwater ice-penetrating buoys include: (1) Anchor claw attitude determination: After fixing the sub-ice structure with anchor claws, the buoy floats up and penetrates the ice through buoyancy; this method is greatly affected by the length of the buoy itself, cannot penetrate thicker ice layers, and the sub-ice structure may not be graspable, which is greatly affected by the environment. (2) Attitude determination using its own weight and buoyancy distribution: The cost is low, but the structural design is complex and it is greatly affected by drift. It can be attitude-determined but difficult to fix. (3) Rudder-propeller combination attitude determination: It has a high degree of intelligence, can adjust the attitude in real time, and has mature software and hardware experience similar to underwater robots; but the debugging process is complicated and the energy consumption is high. Summary of the invention

[0008] The purpose of the present invention is to provide a chemical energy ice-penetrating buoy and method suitable for polar ice environment, which is deployed underwater by a polar underwater robot to achieve precise attitude determination, use chemical thermal energy to penetrate the polar ice layer, establish communication connection between scientific research ships, communication navigation satellites and polar underwater robots, and improve the intelligence level and communication quality of underwater buoys.

[0009] The purpose of the present invention is achieved through the following technical solutions:

[0010] A chemical energy ice-penetrating buoy suitable for polar ice environment comprises: an ice-melting drill bit, wherein the ice-melting drill bit is connected to a chemical reaction exothermic kettle cabin through an ice-melting drill bit fixing plate, wherein the chemical reaction exothermic kettle cabin is connected to an ice navigation and communication cabin, wherein the ice navigation and communication cabin is connected to a front lateral propeller thruster, wherein the front lateral propeller thruster is connected to a power supply and electric control cabin, wherein an under-ice hydroacoustic navigation and communication beacon deployment device is installed outside the power supply and electric control cabin, and wherein the power supply and electric control cabin is connected to a propulsion device at the tail of the buoy.

[0011] Furthermore, the buoy tail propulsion device includes a tail cross rudder and a tail propeller thruster, which provide the buoy with a vertically balanced tail torque and auxiliary propulsion force when penetrating ice upwards.

[0012] Furthermore, the ice-melting drill bit includes an upper fixing plate, the upper fixing plate is connected to a lower fixing plate by means of meshing, a group of lower fixing plate rotating shafts are installed on the lower fixing plate, and an ejection mechanism is provided between the lower fixing plate and the baffle of the ice-melting drill bit.

[0013] Furthermore, a heat conducting pipe, a chemical reactor and a gear-type water pump are installed inside the ice-melting drill bit, and the reaction of the chemical reactor and the heat transfer of the heat conducting pipe are controlled by the gear-type water pump.

[0014] Furthermore, a pressure sensor is installed inside the ice-melting drill bit, and when the buoy contacts the ice layer, the pressure sensor feeds back data.

[0015] Furthermore, the underwater hydroacoustic navigation and communication beacon deployment device includes a sonar fixing sleeve, in which the underwater hydroacoustic navigation and communication beacon is installed, and the underwater hydroacoustic navigation and communication beacon is connected to the pulley deployment mechanism through a deployment cable. When the ice buoy is out of water, the pulley deployment mechanism extends the underwater hydroacoustic navigation and communication beacon from the sonar fixing sleeve and the ice hole by rotating and extending the deployment cable.

[0016] Furthermore, the ice navigation and communication cabin is provided with a navigation and communication system, which includes a GPS satellite positioning module, a BDS Beidou positioning module, a radio satellite communication module, and an underwater acoustic communication module, and signals are connected to the polar research vessel and communication satellite through the ice radio satellite navigation and communication antenna.

[0017] Furthermore, the on-ice radio satellite navigation communication antenna is installed on the on-ice navigation communication cabin for communication connection.

[0018] Furthermore, it also includes a control single chip microcomputer installed in the watertight compartment, a water outlet sensor for detecting water outlet through ice, and an IMU attitude sensor for detecting the attitude of the buoy.

[0019] The present invention may also include:

[0020] An ice-penetrating method for a chemical energy ice-penetrating buoy suitable for a polar ice zone environment, the method comprising:

[0021] When working, the buoy is deployed by the polar underwater robot and then floats up autonomously. When it contacts the ice layer, the pressure sensor feeds back data. The control system adjusts the speed and direction of the front lateral propeller thrusters and the tail propeller thrusters, and the rudder angle of the tail cross-shaped rudder according to the data collected by the IMU attitude sensor to keep the buoy in a nearly vertical posture.

[0022] Then the chemical heat release system in the chemical reactor is started to transfer heat to the ice-melting drill bit, and the closed-loop control system of the buoy maintains a stable attitude during the ice penetration process;

[0023] After penetrating the ice layer, the water outlet sensor feedbacks that after penetrating the ice layer, the buoy will eject the ice melting drill bit through the ejection mechanism to prevent it from affecting the communication effect of the radio satellite navigation communication antenna on the ice; at the same time, the pulley deployment mechanism starts to work, and the underwater hydroacoustic navigation communication beacon is suspended and placed, so that it extends out of the ice-penetrating hole to the excellent hydroacoustic communication channel, so as to prevent the reflection of the hydroacoustic signal by the ice-penetrating hole from affecting the communication effect under the ice, and further optimize the communication conditions;

[0024] Afterwards, the navigation and communication system starts to work, establishes a communication network with the under-ice polar underwater robot, polar scientific research vessel and communication satellite, and completes the communication intermediary work. At this time, the buoy fuselage is embedded in the ice layer and fixed, the front lateral propeller thruster and the buoy tail device stop working, and energy is supplied to the communication module to extend the communication time.

[0025] The beneficial effects of the present invention are:

[0026] The present invention utilizes the front lateral propeller thruster, the tail cross rudder, and the tail propeller thruster to work together to ensure the balance of the ice-penetrating process of the chemical thermal energy ice-penetrating buoy, thereby improving the intelligence level and communication quality of the underwater buoy, enhancing the functionality and integration of the polar buoy, and providing more reliable communication guarantee for polar scientific research and polar underwater operations.

[0027] The present invention solves the problem of thick polar ice blocking communication and navigation services for underwater vehicles. The buoy is deployed underwater by a polar underwater robot, and precise attitude determination is achieved through two thrusters and a tail rudder. Chemical thermal energy is used to penetrate the polar ice layer to establish a communication connection between the scientific research vessel, the communication and navigation satellite and the polar underwater robot.

[0028] The present invention improves the intelligence level of underwater buoys; and takes into account the influence of structure and environment on different communication modes and optimizes them, thereby improving the communication quality and improving the functionality and integration of ice-penetrating buoys.

[0029] In order to solve the problem that polar AUVs have poor communication connections with polar research vessels and communication and navigation satellites due to ice barriers, the present invention designs a device that is deployed underwater in the polar regions, penetrates ice based on chemical thermal energy, melts ice by maintaining a nearly vertical posture through two thrusters and a cross-shaped tail rudder, and realizes on-ice and under-ice navigation and communication connections by using its own on-ice navigation and communication module and under-ice hydroacoustic communication module. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0031] Attached Figure 2 Yes Figure 1 Right view of .

[0032] Attached Figure 3 It is a diagram of the internal structure of the ice-melting chemical thermal energy structure of the present invention.

[0033] Attached Figure 4 It is a structural diagram of the underwater hydroacoustic navigation communication beacon deployment device of the present invention.

[0034] Attached Figure 5 It is a schematic diagram of the working process of the present invention.

[0035] Attached Figure 6It is a flowchart of the system work flow of the present invention.

[0036] In the attached figure: 1. ice-melting drill bit; 2. chemical reaction exothermic kettle cabin; 3. ice navigation and communication cabin; 4. front lateral propeller thruster; 5. power supply and electronic control cabin; 6. tail cross rudder; 7. tail propeller thruster; 8. under-ice hydroacoustic navigation and communication beacon deployment device; 9. ice radio satellite navigation and communication antenna; 10. ice-melting drill bit fixing plate; 11. heat conduction pipe; 12. spring mechanism; 13. chemical reactor; 14. upper fixing plate; 15. lower fixing plate; 16. gear water pump; 17. lower fixing plate shaft; 18. pressure sensor; 19. laying cable; 20. pulley laying mechanism; 21. sonar fixing sleeve; 22. under-ice hydroacoustic navigation and communication beacon; 23. polar scientific research ship; 24. ice-penetrating buoy; 25. buoy connection and deployment mechanism; 26. under-ice polar underwater robot. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings.

[0038] Embodiment 1:

[0039] The present invention provides a chemical energy ice-penetrating buoy suitable for polar ice environment, Figure 1-2 As shown, it includes: an ice-melting drill bit 1, which is connected to a chemical reaction exothermic kettle cabin 2 through an ice-melting drill bit fixing plate 10, and the chemical reaction exothermic kettle cabin 2 is connected to an ice navigation and communication cabin 3, and the ice navigation and communication cabin 3 is connected to a front lateral propeller thruster 4, and the front lateral propeller thruster 4 is connected to a power supply and electric control cabin 5, and an under-ice hydroacoustic navigation and communication beacon deployment device 8 is installed outside the power supply and electric control cabin 5, and the power supply and electric control cabin 5 is connected to a buoy tail propulsion device.

[0040] The tail propulsion device of the buoy includes a tail cross rudder 6 and a tail propeller thruster 7, which provide the buoy with a vertically balanced tail torque and an auxiliary propulsion force when penetrating ice upwards.

[0041] In this embodiment, the ice navigation and communication cabin 3 has a navigation and communication system, which includes a GPS satellite positioning module, a BDS Beidou positioning module, a radio satellite communication module, and an underwater acoustic communication module. The signal connection is established with the polar research vessel 23 and the communication satellite through the ice radio satellite navigation and communication antenna 9.

[0042] The on-ice radio satellite navigation communication antenna 9 is installed on the on-ice navigation communication cabin 3 for communication connection.

[0043] As attached Figure 3As shown, the ice-melting drill 1 includes an upper fixing plate 14, the upper fixing plate 14 is connected to a lower fixing plate 15 by meshing, the lower fixing plate 15 is equipped with a group of lower fixing plate rotating shafts 17, and an ejection mechanism 12 is provided between the lower fixing plate 15 and the baffle of the ice-melting drill 1. The lower fixing plate rotating shaft 17 is rotated by a small steering gear, and the small steering gear is connected to a control system.

[0044] After the buoy is out of water, the lower fixing plate shaft 17 drives the lower fixing plate 15 to rotate, the lower fixing plate 15 is unlocked from the upper fixing plate 14, and the ejection mechanism 12 ejects the ice melting drill 1 in the shaded part.

[0045] A heat conducting pipe 11 , a chemical reactor 13 , and a gear-type water pump 16 are installed inside the ice-melting drill bit 1 . The gear-type water pump 16 controls the reaction of the chemical reactor 13 and the heat transfer of the heat conducting pipe 11 .

[0046] A pressure sensor 18 is also installed inside the ice melting drill 1. When the buoy contacts the ice layer, the pressure sensor 18 feeds back data.

[0047] Attached Figure 4 As shown, the underwater hydroacoustic navigation communication beacon deployment device 8 includes a sonar fixed sleeve 21, in which an underwater hydroacoustic navigation communication beacon 22 is installed. The underwater hydroacoustic navigation communication beacon 22 is connected to a pulley deployment mechanism 20 through a deployment cable 19. When the ice buoy is out of water, the pulley deployment mechanism 20 extends the deployment cable 19 by rotating to extend the underwater hydroacoustic navigation communication beacon 22 from the sonar fixed sleeve 21 and the ice hole.

[0048] In this embodiment, the buoy also includes a control microcontroller installed in the watertight compartment, a water outlet sensor for detecting water outlet through ice, and an IMU attitude sensor for detecting the attitude of the buoy.

[0049] The installation process of the ice-penetrating buoy in this embodiment is combined with the attached Figure 1 , 2 、4 for explanation:

[0050] The ice-melting drill bit 1 is arranged at the bow of the chemical energy ice-penetrating buoy suitable for polar ice zone environment in the present invention, and is used to contact and penetrate the ice layer; the chemical reaction exothermic kettle cabin 2 is arranged immediately thereafter, and is connected and fixed to the ice-melting drill bit 1 through the ice-melting drill bit fixing plate 10; the next cabin section is arranged as an ice navigation and communication cabin 3, and the GPS module, BDS module, radio satellite communication module and water outlet sensor module for ice positioning are sealed by a sealed cabin inside, and are connected to the ice scientific research ship and the communication satellite through four ice radio satellite navigation and communication antennas 9 arranged on the periphery of the cabin wall; the front lateral propeller thruster 4 is arranged behind the ice navigation and communication cabin 3, and is used to provide the buoy with a vertical posture in the front half Part of the torque required; connected afterwards is the power supply and electrical control cabin 5, which contains a high-energy-density lithium battery and a system control single-chip microcomputer installed in the watertight cabin to power the system. The lithium battery and control single-chip microcomputer in the cabin are connected to other modules of the system that need power supply and control through watertight cables. In addition, an under-ice hydroacoustic navigation and communication beacon 22, a sonar fixing sleeve 21, and a pulley deployment mechanism 20 are arranged on the periphery of the cabin, which can hoist the under-ice hydroacoustic navigation and communication beacon 22 to send signals to establish a communication connection with the polar underwater robot; behind the power supply and electrical control cabin 5 are the tail cross rudder 6 and the tail propeller thruster 7 of the balance and propulsion system, which provide the buoy with a vertically balanced tail torque and auxiliary propulsion force when penetrating the ice upwards.

[0051] The ice-penetrating method of the ice-penetrating buoy in this embodiment is combined with the attached Figure 5 To illustrate, the method includes:

[0052] During operation, the buoy floats up autonomously after being deployed by the polar underwater robot 26. When it contacts the ice layer, the pressure sensor 18 feeds back data. The control system adjusts the speed and direction of the front lateral propeller thruster 4 and the tail propeller thruster 7, and the rudder angle of the tail cross-shaped rudder 6 according to the data collected by the IMU attitude sensor to keep the buoy in a nearly vertical posture.

[0053] Then the chemical heat release system in the chemical reactor 13 is started to transfer heat to the ice melting drill 1, and the closed-loop control system of the buoy maintains a stable attitude during the ice penetration process;

[0054] After penetrating the ice layer, the water outlet sensor feedbacks that after penetrating the ice layer, the buoy will eject the ice melting drill bit 1 through the ejection mechanism 12 to prevent it from affecting the communication effect of the radio satellite navigation communication antenna 9 on the ice; at the same time, the pulley deployment mechanism 20 starts to work, and the underwater hydroacoustic navigation communication beacon 22 is suspended and placed, so that it extends out of the ice-penetrating hole to the excellent hydroacoustic communication channel, so as to prevent the reflection effect of the hydroacoustic signal on the ice-penetrating hole from affecting the communication effect under the ice, and further optimize the communication conditions;

[0055] Afterwards, the navigation and communication system starts to work, establishes a communication network with the under-ice polar underwater robot 26, the polar research vessel 23 and the communication satellite, and completes the communication intermediary work. At this time, the buoy fuselage is embedded in the ice layer and fixed, the front lateral propeller thruster 4 and the buoy tail device stop working, and energy is supplied to the communication module to extend the communication use time.

[0056] Embodiment 2:

[0057] The chemical energy ice-penetrating buoy suitable for polar ice zone environment according to Example 1 includes five systems: an energy system, a balance and propulsion system, a navigation and communication system, a chemical energy heat release system, and an intelligent control system.

[0058] The energy system includes: a high-density lithium-ion battery;

[0059] The balancing and propulsion system comprises: two thrusters located at the tail of the buoy and the side of the front end of the buoy and a cross-shaped rudder device at the tail of the buoy;

[0060] The navigation and communication system includes: a BDS Beidou positioning module, a GPS satellite positioning module, a radio satellite communication module, and an underwater acoustic communication module;

[0061] The chemical energy heat release system comprises a chemical reaction kettle, a heat conducting pipe, and a built-in magnesium thermal reaction heat release raw material;

[0062] The intelligent control system includes a control single chip microcomputer sealed in a watertight compartment, a pressure sensor for detecting ice contact, a water outlet sensor for detecting water outlet after penetrating ice, and an IMU attitude sensor for detecting the attitude of a buoy.

[0063] In this embodiment, the polar underwater robot 26 under the ice layer deploys the ice-penetrating buoy 24 before working. The ice-penetrating buoy 24 floats up autonomously, and the pressure sensor of the ice-penetrating drill bit feeds back data when it contacts the ice layer; then the control system controls the balance and control system in real time according to the data of the attitude sensor IMU to adjust the rotation speed of the two thrusters, and the rudder angle of the tail rudder to control the attitude of the buoy to remain nearly vertical and the ice-melting drill bit to face upward; after the attitude remains stable, the control microcontroller starts the chemical heat release system switch to start conducting heat to the ice-melting drill bit; the buoy starts to penetrate the ice, and the buoy is constantly controlled by the "balance and propulsion mechanism-IMU attitude sensor-control microcontroller" group during the ice-penetrating process. The closed-loop control system maintains the stability of the near-ice melting attitude; after penetrating the ice layer, the water outlet sensor gives feedback, stops the chemical energy heat release system, ejects the ice-melting drill bit, and drops the underwater hydroacoustic navigation and communication beacon to create good communication conditions; the navigation and communication system starts to work, and transmits data to the under-ice polar marine robot through the hydroacoustic communication module, and transmits data to the ice-based scientific research ship and navigation and communication satellite using the radio satellite communication module to establish a communication network; at this time, the buoy body is embedded in the ice layer and fixed with the ice base, the balance and propulsion system stops working, and the energy supply is mainly provided to each communication module to extend the communication time of the buoy.

[0064] Compared with the existing technology, the present invention uses a propulsion mechanism for the first time to achieve a balanced guarantee of the ice-penetrating process of a chemical thermal energy ice-penetrating buoy; and greatly improves the intelligence level of the underwater buoy; and considers the impact of the structure and environment on different communication methods and optimizes them, thereby improving the communication quality; a chemical energy ice-penetrating buoy suitable for polar ice environment has improved functionality and integration.

[0065] Embodiment 3:

[0066] According to the chemical energy ice-penetrating buoy suitable for polar ice environment described in Example 1, the following Figure 3-6 , explaining the whole working process of the present invention and the working mode of each system:

[0067] Initially, the chemical energy ice-penetrating buoy suitable for polar ice environment described in the present invention is carried by a polar underwater robot into the polar ice and deployed underwater, and the connection with the polar underwater robot is achieved through the buoy connection deployment mechanism 25;

[0068] After the buoy is deployed, it floats up autonomously by its own positive buoyancy. After contacting the ice layer, the pressure sensor 18 inside the ice melting drill 1 provides feedback, and the control system starts to work. The closed-loop control system composed of "balance and propulsion mechanism-IMU attitude sensor-control single chip microcomputer" continuously configures the speed steering of the front lateral propeller thruster 4, the rudder angle of the tail cross rudder 6 and the speed steering of the tail propeller thruster 7 so that the buoy maintains a nearly vertical attitude;

[0069] After the IMU attitude sensor continuously feeds back that the attitude is kept vertical and the pressure sensor 18 continuously feeds back that it is in contact with the ice surface, the single chip microcomputer is controlled to enable the gear water pump 16 in the chemical reaction kettle 2 to start injecting water into the chemical reaction kettle 13 to generate an exothermic reaction, and the heated water after the reaction can be fed back into the heat pipe 11 to transfer heat to the ice melting drill 1 to start melting the ice layer;

[0070] During the ice penetration process, the pressure sensor 18 keeps working, and if the feedback is that the ice layer is touched, the tail propeller thruster 7 is started to move the buoy upward;

[0071] After penetrating the ice layer, the upper part of the buoy floats out of the water, and the water outlet sensor module installed on the ice navigation and communication cabin 3 detects whether water is out. If water is out, the gear water pump 16 is turned off to stop the exothermic reaction;

[0072] The lower fixing plate 15 fixed on the chemical reaction exothermic kettle chamber 2 and the upper fixing plate 14 fixed on the ice melting drill 1 are initially in a meshing locking state, and the lower fixing plate 15 can be driven to rotate and unlock by four lower fixing plate rotating shafts 17;

[0073] When the exothermic reaction stops, the four lower fixing plate rotating shafts 17 drive the lower fixing plate 15 fixed on the chemical reaction exothermic kettle chamber 2 to rotate, and the lower fixing plate 15 and the upper fixing plate 14 fixed on the ice melting drill 1 are unlocked;

[0074] The originally locked ice melting drill bit 1 and the chemical reaction exothermic kettle chamber 2 are unlocked, and the elastic force of the spring mechanism 12 is released to eject the ice-penetrating drill bit to prevent it from affecting the communication effect of the radio satellite navigation communication antenna 9 on the ice;

[0075] The pulley laying mechanism 20 also starts to work, and continuously releases the laying cable 19 by rotating, and releases the underwater hydroacoustic navigation communication beacon 22 from the sonar fixing sleeve 21, so that the underwater hydroacoustic navigation communication beacon 22 extends out of the ice-penetrating hole to the good channel, so as to avoid the reflection effect of the ice-penetrating hole on the hydroacoustic signal affecting the underwater communication effect;

[0076] Finally, each communication and navigation sensor is powered on, and communication connections with the under-ice polar underwater robot 26, the above-ice polar research vessel 23, and the communication and navigation satellite are respectively established through the under-ice hydroacoustic navigation communication beacon 22 and the above-ice radio satellite navigation communication antenna 9, thereby achieving the predetermined functions.

[0077] Embodiment 4:

[0078] According to the chemical energy ice-penetrating buoy suitable for polar ice environment described in Example 1, the following Figure 6 Specific description of the control system workflow:

[0079] (1) Polar AUV deploys ice-penetrating buoys: The buoys are carried by polar underwater robots into the polar ice and deployed underwater, which is achieved by connecting the buoys to the deployment mechanism 25;

[0080] (2) Autonomous floating of the ice-penetrating buoy: After deployment, the buoy floats autonomously by its own positive buoyancy;

[0081] (3) Whether the pressure sensor feedback touches the ice: Check whether the pressure sensor 18 in the ice melting drill 1 has feedback data. If yes, proceed to step (4); if not, return to step (2) and continue to float;

[0082] (4) The buoy adjusts its attitude to near vertical: The control system adjusts the speed and direction of the front lateral propeller thruster 4, the rudder angle of the tail cross rudder 6 and the speed and direction of the tail propeller thruster 7 through the balance and propulsion system to keep the buoy in a near vertical attitude;

[0083] (5) Whether the IMU attitude sensor feedback attitude is nearly vertical: Use the IMU attitude sensor to detect whether the buoy attitude is stable. If yes, proceed to step (6); if not, return to step (4) to continue adjusting the attitude;

[0084] (6) Starting the gear water pump, the reactor begins to release heat: the control system starts the gear water pump 16 in the chemical reaction exothermic reactor compartment 2, injecting water into the chemical reactor 13 to generate an exothermic reaction;

[0085] (7) Conducting heat to the ice-melting drill bit to start melting ice: The heat pipe 11 transfers heat to the ice-melting drill bit 1 to start melting the ice layer;

[0086] (8) Before the buoy is embedded in the ice, the balance propulsion system is continuously controlled to maintain a fixed attitude: During the ice penetration process, the attitude is continuously adjusted to ensure stable ice penetration;

[0087] (9) IMU feedback whether the attitude is stable: Continuously use the IMU attitude sensor to detect whether the buoy attitude is stable; if yes, go to step (10); if not, return to step (8) to continue adjusting the attitude;

[0088] (10) Maintain a nearly vertical posture to melt ice until it is embedded in the ice: The buoy maintains a stable posture and continues to melt ice until it is embedded in the ice layer;

[0089] (11) The pressure sensor feedbacks whether the vehicle has touched the ice: the pressure sensor 18 is used to detect whether the vehicle has touched the ice layer again; if so, the process proceeds to step (13); if not, the process proceeds to step (12) to start the tail thrust to propel the vehicle upward;

[0090] (12) Start the tail propeller to propel the buoy upward: Start the tail propeller propeller 7 to move the buoy upward;

[0091] (13) The water sensor feedbacks whether the buoy has emerged from the water: The water sensor is used to detect whether the buoy has emerged from the water. If yes, proceed to step (14); if not, proceed to step (12) to start the tail thrust to propel the buoy upward;

[0092] (14) Turn off the gear water pump to stop the heating reaction: stop the chemical energy heat release system;

[0093] (15) The lower fixed plate shaft unlocks the fixed plate and ejects the ice-melting drill bit: the ice-melting drill bit 1 is unlocked from the chemical reaction exothermic kettle chamber 2, and the spring mechanism 12 ejects the ice-melting drill bit to avoid affecting the communication on the ice;

[0094] (16) The hydroacoustic module deployment pulley works to deploy the underwater hydroacoustic communication module to a good channel outside the ice melting hole: The pulley deployment mechanism 20 works to release the underwater hydroacoustic navigation communication beacon 22 from the sonar fixing sleeve 21, so that it extends out of the ice hole to a good channel;

[0095] (17) Start each communication and navigation module to establish communication connections on and off the ice: The navigation and communication system starts to work, and data is transmitted with the polar underwater robot 26 through the underwater hydroacoustic navigation and communication beacon 22, and data is transmitted with the research vessel 23 and the communication satellite through the on-ice radio satellite navigation and communication antenna 9, so as to establish a communication network;

[0096] During the entire process, the intelligent control system monitors and adjusts the buoy's posture and the working status of each system in real time to ensure that the buoy can successfully penetrate the ice and establish a stable communication connection.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A chemical energy ice-penetrating buoy suitable for polar ice environments, characterized in that: include: An ice-melting drill bit (1) is connected to a chemical reaction exothermic kettle cabin (2) through an ice-melting drill bit fixing plate (10), the chemical reaction exothermic kettle cabin (2) is connected to an ice navigation and communication cabin (3), the ice navigation and communication cabin 3 is connected to a front lateral propeller thruster (4), the front lateral propeller thruster (4) is connected to a power supply and electric control cabin (5), an under-ice hydroacoustic navigation and communication beacon deployment device (8) is installed outside the power supply and electric control cabin (5), and the power supply and electric control cabin (5) is connected to a buoy tail propulsion device.

2. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 1, characterized in that: The buoy tail propulsion device comprises a tail cross rudder (6) and a tail propeller thruster (7), which provide the buoy with a vertically balanced tail moment and an auxiliary propulsion force when penetrating ice upwards.

3. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 2, characterized in that: The ice-melting drill bit (1) comprises an upper fixing plate (14), the upper fixing plate (14) is connected to a lower fixing plate (15) by means of meshing teeth, the lower fixing plate (15) is provided with a group of lower fixing plate rotating shafts (17), and an ejection mechanism (12) is provided between the lower fixing plate (15) and a baffle of the ice-melting drill bit (1).

4. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 3, characterized in that: A heat conducting pipe (11), a chemical reaction kettle (13), and a gear-type water pump (16) are installed inside the ice-melting drill bit (1), and the reaction of the chemical reaction kettle (13) and the heat transfer of the heat conducting pipe (11) are controlled by the gear-type water pump (16).

5. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 3 or 4, characterized in that: A pressure sensor (18) is also installed inside the ice melting drill bit (1), and when the buoy contacts the ice layer, the pressure sensor (18) feeds back data.

6. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 1, characterized in that: The underwater acoustic navigation communication beacon deployment device (8) comprises a sonar fixing sleeve (21), an underwater acoustic navigation communication beacon (22) is installed in the sonar fixing sleeve (21), and the underwater acoustic navigation communication beacon (22) is connected to a pulley deployment mechanism (20) via a deployment cable (19); when the ice buoy is out of water, the pulley deployment mechanism (20) extends the underwater acoustic navigation communication beacon (22) from the sonar fixing sleeve (21) and the ice hole by rotating and extending the deployment cable (19).

7. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 1, characterized in that: The on-ice navigation and communication cabin (3) has a navigation and communication system, which includes a GPS satellite positioning module, a BDS Beidou positioning module, a radio satellite communication module, and an underwater acoustic communication module, and is connected to the polar research vessel (23) and the communication satellite through the on-ice radio satellite navigation and communication antenna (9).

8. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 7, characterized in that: The on-ice radio satellite navigation communication antenna (9) is installed on the on-ice navigation communication cabin (3) for communication connection.

9. The chemical energy ice-penetrating buoy suitable for polar ice environment according to claim 1, characterized in that: It also includes a control microcontroller installed in the watertight compartment, a water outlet sensor for detecting water coming out of the ice, and an IMU attitude sensor for detecting the attitude of the buoy.

10. An ice-penetrating method for a chemical energy ice-penetrating buoy suitable for polar ice environments as claimed in any one of claims 1 to 9, characterized in that: The method includes: When in operation, the buoy is deployed by a polar underwater robot (26) and then floats up autonomously. When it contacts the ice layer, the pressure sensor (18) feeds back data. The control system adjusts the rotation speed and direction of the front lateral propeller thruster (4) and the tail propeller thruster (7) and the steering angle of the tail cross-shaped rudder (6) according to the data collected by the IMU attitude sensor to maintain the buoy in a nearly vertical posture. Then, the chemical heat release system in the chemical reactor (13) is started to transfer heat to the ice melting drill (1), and the closed-loop control system of the buoy maintains a stable attitude during the ice penetration process; After penetrating the ice layer, the water outlet sensor feedbacks that after penetrating the ice layer, the buoy will eject the ice melting drill bit (1) through the ejection mechanism (12) to prevent it from affecting the communication effect of the radio satellite navigation communication antenna (9) on the ice; at the same time, the pulley deployment mechanism (20) starts to work, and the underwater hydroacoustic navigation communication beacon (22) is suspended and placed, so that it extends out of the ice penetration hole to the excellent hydroacoustic communication channel, so as to prevent the reflection effect of the hydroacoustic signal on the ice penetration hole from affecting the communication effect under the ice, and further optimize the communication conditions; Afterwards, the navigation and communication system starts to work, establishes a communication network with the under-ice polar underwater robot (26), the polar research vessel (23) and the communication satellite, and completes the communication intermediary work. At this time, the buoy fuselage is embedded in the ice layer and fixed, the front lateral propeller thruster (4) and the buoy tail device stop working, and energy is supplied to the communication module to extend the communication use time.

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