Deicing robot for polar ocean platform and working method of deicing robot

Abstract

The invention relates to a polar ocean platform deicing robot and a working method thereof. The polar ocean platform deicing robot comprises a deicing shovel mechanism, a deicing drill mechanism, a laser deicing mechanism, a central control mechanism, a steering mechanism, a climbing mechanism and a sensing control system. Two central control mechanisms are arranged on the front portion and the rear portion of the deicing robot, the deicing shovel mechanism, the deicing drill mechanism and the laser deicing mechanism are all arranged in front of the central control mechanism located in front of the deicing robot, the two central control mechanisms are connected through a steering mechanism, and the two central control mechanisms are both connected with climbing mechanisms in the left-right direction. Clamping and loosening of the climbing mechanism are driven; the sensing control system comprises a sensor and a controller, the controller adopts a fuzzy PID algorithm, and a deicing mode is decided in real time according to data of the sensor. The device is especially suitable for deicing operation of a complex structure of a polar ocean platform, and has the characteristics of high efficiency, stability and intelligence.

Description

Technical Field

[0001] The present invention relates to the field of de-icing robots, and particularly to a de-icing robot for polar ocean platforms and its working method. Background Art

[0002] Polar ocean platforms are long-term exposed to extreme environments such as low temperature, strong wind, and ocean waves. Ice accretion is likely to form on the surface of their structures due to water vapor condensation and seawater splashing. The accumulation of ice not only increases the platform load, leading to risks of structural deformation and even capsizing, but also blocks equipment interfaces, affecting the stability of key operations such as oil and gas extraction and data transmission. In recent years, robot technology has been gradually applied to the de-icing field. For example, high-voltage line de-icing robots improve efficiency through the combination of clamping and cutting, and water surface de-icing robots use the coordinated operation of hammering and bucket shoveling. However, existing robots are mostly designed for specific scenarios and are difficult to adapt to the changing environment of polar ocean platforms. Moreover, polar de-icing operations mainly rely on manual knocking or mechanical drilling and other means, but these methods have significant defects: Insufficient efficiency and adaptability: Traditional manual de-icing relies on manual operation, with low efficiency and difficulty in dealing with complex ice layers. The simple use of the thermal melting method has extremely high energy consumption, and serious heat loss occurs in the polar low-temperature environment, with poor economy. Safety issues: Manual operations need to be carried out at high altitudes or on slippery surfaces, and the harsh polar weather further increases the operation risks, easily causing casualties; Mechanical drilling equipment is prone to jamming when dealing with thick ice or uneven ice layers, and may even damage the platform coating. Lack of environmental protection: Some chemical de-icing agents may pollute the polar marine ecosystem, and if the broken ice generated by mechanical de-icing is not cleaned up in time, it may spread with ocean currents, affecting the navigation safety of the surrounding sea areas. Therefore, there is an urgent need to develop a highly efficient, stable and environmentally friendly de-icing robot dedicated to polar ocean platforms, with the following characteristics: improving de-icing efficiency, self-adaptive multi-mode de-icing, and low-energy sustainable operation ability, so as to improve the safety and economy of polar resource development. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a de-icing robot for polar ocean platforms and its working method to overcome the above deficiencies in the prior art.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: A de-icing robot for polar ocean platforms includes a de-icing shovel mechanism, a de-icing drill mechanism, a laser de-icing mechanism, a central control mechanism, a steering mechanism, a climbing mechanism, and a sensing and control system; There are two central control mechanisms arranged front and rear on the de-icing robot. The de-icing shovel mechanism, the de-icing drill mechanism, and the laser de-icing mechanism are all arranged in front of the central control mechanism located in the front of the de-icing robot. The two central control mechanisms are connected by a steering mechanism, and both central control mechanisms are connected to the climbing mechanism on the left and right and drive the clamping and loosening of the climbing mechanism.

[0005] The sensing control system includes a sensor and a controller. The sensors include a millimeter-wave ice thickness radar, an infrared thermal imager, a piezoelectric hardness sensor, and an ultrasonic sensor, wherein: the millimeter-wave ice thickness radar is installed at the front end of the de-icing robot, with a detection range of 0-1.5m; the infrared thermal imager is installed at the bottom or side of the robot, with a temperature measurement range of -80°C to 50°C; the piezoelectric hardness sensor is at the end of the robot's working arm or the part that contacts the ice surface; the ultrasonic sensor covers the side blind spot detection; the controller of the de-icing robot adopts a fuzzy PID algorithm to make real-time decisions on the de-icing mode based on the sensor data: when the ice thickness is less than 10cm and the hardness is less than 5MPa, the de-icing shovel mechanism is enabled alone; when 10cm≤thickness≤30cm or 5MPa≤hardness≤20MPa, the drill-shovel collaborative mode is enabled; when the thickness is greater than 30cm or the hardness is greater than 20MPa, the laser-drill joint breaking mode is enabled, and high-frequency laser pulse pitting treatment is used for thin ice layers with a thickness of less than 2cm.

[0006] The de-icing shovel mechanism, de-icing drill mechanism, and laser de-icing mechanism are all connected on a base. The de-icing shovel mechanism is located on both sides of the front of the robot, extending forward and can flexibly adjust its position; the de-icing drill mechanism is located on the inside of the de-icing shovel mechanism; the laser de-icing mechanism is located at a relatively high position above. The laser de-icing mechanism is located above the robot and heats the surface of the ice layer by directional emission of high-energy laser beams. It is suitable for areas that are difficult to reach or require delicate treatment; the de-icing shovel mechanism has sharp edges and a solid structure, and removes large areas of thin ice through mechanical movement; the de-icing drill mechanism is equipped with a high-speed rotating drill bit for breaking thick ice layers.

[0007] The steering mechanism includes a steering drive motor, a steering bracket, and a robotic arm connector. The steering drive motor drives the two universal joint forks of the universal joint transmission device to swing at different angles, and then connects the front and rear parts of the de-icing robot through two robotic arm connectors arranged at the front and rear, thereby realizing the steering and climbing angle adjustment of the de-icing robot.

[0008] The climbing mechanism includes a primary hinge, a primary mechanical arm, a thorn-shaped flexible anti-sliding block, a primary hydraulic transmission mechanism, a secondary hinge, a secondary mechanical arm, a secondary hydraulic transmission mechanism, a tertiary hinge, a tertiary male mechanical arm, and a tertiary female mechanical arm. A pair of clamps are connected to the mechanical arm drive frame in the central control mechanism on the left and right sides. The mechanical arm drive frame is connected to the primary hinge. The primary hinge is sequentially connected to the primary mechanical arm, the secondary hinge, the secondary mechanical arm, the tertiary hinge, and the tertiary male mechanical arm. The primary hinge, the secondary hinge, and the tertiary hinge are respectively connected to the primary hydraulic transmission mechanism and the secondary hydraulic transmission mechanism. The hydraulic transmission mechanism realizes the angle position adjustment between each joint of the clamp, thereby ensuring the accuracy of the clamping and releasing actions of the clamp; a detachable thorn-shaped flexible anti-sliding block is provided under the primary and secondary mechanical arms, which is made of shape memory alloy.

[0009] The de-icing robot has three collaborative working modes: when the ice layer thickness < 10 cm and the hardness < 5 MPa, the de-icing shovel mechanism is enabled alone; when 10 cm ≤ thickness ≤ 30 cm or 5 MPa ≤ hardness ≤ 20 MPa, the drill-shovel collaborative mode is enabled; when the thickness > 30 cm or the hardness > 20 MPa, the laser-drill combined breaking mode is enabled. For thin ice layers with a thickness < 2 cm, high-frequency (100 Hz) laser pulse pitting treatment is adopted.

[0010] The sensing and control system can also adopt the following methods: The infrared sensor and the laser sensor form the core. The infrared sensor is used for temperature distribution monitoring, and the laser sensor provides accurate measurements of the ice layer thickness and the distance to obstacles; the infrared sensor is installed at the bottom or the front end of the robot, close to the ice surface, so as to accurately measure the temperature; the laser sensor measures the ice layer thickness and the distance to obstacles without contact and is installed at the front of the robot; the ultrasonic sensor is used as an auxiliary to cover long-distance obstacle detection; the ultrasonic sensor is installed on the side of the robot to cover the blind area on the side of the robot and assist in detecting small obstacles such as suspension clamps; the vision sensor is installed on the top or the middle of the robot, and a pan-tilt camera and a wide-angle lens are combined to identify the ice layer type and the conductor state.

[0011] The central control mechanism includes an arched housing. Four robotic arm drive frames and planetary lead screw modules are arranged below the arched housing. The planetary lead screw modules, drive motors, and main frames are installed on the robotic arm drive frames. Each robotic arm drive frame corresponds to a pair of grippers of the climbing mechanism, and the clamping force of the grippers is controlled by the drive motor.

[0012] The de-icing robot first scans the thickness of the ice layer in front through a millimeter-wave ice layer thickness radar to determine the area to be processed; the infrared thermal imager detects the temperature distribution of the ice layer to find thinner or more fragile areas, or monitors the temperature change after de-icing; the piezoelectric hardness sensor measures the hardness when contacting the ice surface to adjust the force of the de-icing tool; the controller synthesizes this data to decide which de-icing mode to use, such as shoveling, drilling, or laser scraping, or a combination of two or three modes; the controller uses a fuzzy PID algorithm to achieve the drill speed or heating power to adapt to different ice layer conditions; at the same time, the controller needs to consider the collaborative work between sensors, select the optimal strategy according to the input of each sensor signal, and can enable multiple methods at the same time; the positions of the radar and the thermal imager should not be too close to prevent electromagnetic interference; direct contact with the ice surface will cause wear or temperature changes that affect the accuracy, so the piezoelectric sensor needs to be calibrated regularly.

[0013] The robot first scans the ice layer and obstacles in front through lidar to plan the path. The infrared sensor monitors the ice surface temperature in real time to identify thin ice areas. The ultrasonic sensor detects side obstacles to avoid collisions. The vision sensor identifies the ice layer type to adjust the de-icing strategy. The controller integrates all data and decides to use one or a combination of shoveling, drilling, or laser ablation methods. At the same time, the data from the ultrasonic sensor on the side can assist in adjusting the position and movement of the robot to avoid damaging the equipment.

[0014] The sensing and control system of the de-icing robot can also adopt a bionic layout strategy: an intensive array of infrared and laser sensors is integrated at the front end, ultrasonic sensors are distributed in an arc shape on the side, a lidar is installed on the top, and the infrared sensors are configured with dual redundancy.

[0015] The beneficial effects of the present invention are as follows: The climbing mechanism not only improves the mobility and adaptability of the robot but also ensures its safety and reliability in harsh environments. The screw drive mechanism has good wear resistance and long service life characteristics and can operate stably for a long time in the harsh polar environment. The sensing and control system can improve the adaptability of the robot to complex environments, enabling it to better handle various de-icing scenarios. The de-icing mechanism combines the advantages of multiple de-icing methods to jointly de-ice with high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 is a schematic diagram of the de-icing system of the present invention;

[0018] Figure 3 is a schematic diagram of the central control mechanism (after removing the housing) of the present invention;

[0019] Figure 4 is a schematic diagram of the steering mechanism structure of the present invention;

[0020] Figure 5 is a schematic diagram of the climbing mechanism of the present invention;

[0021] Figure 6 is a schematic diagram of the details of the climbing mechanism of the present invention.

[0022] In the drawings, the list of components represented by each reference numeral is as follows:

[0023] 1. Ice scraper mechanism, 2. Ice drill mechanism, 3. Laser ice removal mechanism, 4. Central control mechanism, 5. Steering mechanism, 6. Climbing mechanism, 4-1. First robotic arm drive frame, 4-2. Second robotic arm drive frame, 4-3. Third robotic arm drive frame, 4-4. Fourth robotic arm drive frame, 4-5. Planetary lead screw module, 4-6. Driving motor, 4-7. Main body frame, 5-1. Steering drive motor, 5-2. Steering bracket, 5-3. Robotic arm connecting piece, 6-1. First hinge, 6-2. First robotic arm, 6-3. Spiny flexible anti-slip block, 6-4. First hydraulic transmission mechanism, 6-5. Second hinge, 6-6. Second robotic arm, 6-7. Second hydraulic transmission mechanism, 6-8. Third hinge, 6-9. Third male robotic arm, 6-10. Third female robotic arm. Detailed implementation manners

[0024] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0025] 1. Overall structural composition

[0026] As Figure 1 shown, an ice removal robot for polar ocean platforms includes an ice scraper mechanism 1, an ice drill mechanism 2, a laser ice removal mechanism 3, a central control mechanism 4, a steering mechanism 5, a climbing mechanism 6, and a sensing and control system. There are two central control mechanisms 4 arranged front and back on the ice removal robot. The ice removal mechanisms are all arranged in front of the central control mechanism 4 located in the front of the ice removal robot. The two central control mechanisms 4 are connected by a steering mechanism 5. Both central control mechanisms 4 are connected to the climbing mechanism 6 on the left and right and drive the clamping and loosening of the climbing mechanism 6 to realize the forward and backward movement of the ice removal robot.

[0027] The total mass of the robot is controlled within 1200 kg, and the overall dimensions are 3.2 m × 2.1 m × 1.8 m (length × width × height). The modular design facilitates transportation and maintenance in polar environments. Each mechanism uses a titanium-magnesium alloy frame and a carbon fiber reinforced composite material shell, and still maintains a yield strength of ≥850 MPa at -60°C. The surface of key transmission components is plated with a 0.2 mm thick DLC diamond-like carbon coating, and the friction coefficient is lower than 0.08. The bionic scale anti-slip device is made of shape memory alloy and can automatically adjust the surface roughness within 0.5 s according to the contact surface temperature (the Ra value can be adjusted from 0.8 to 3.2 μm).

[0028] The sensing and control system includes sensors and a controller. One specific implementation method is as follows:

[0029] The sensors include a millimeter-wave ice thickness radar, an infrared thermal imager, a piezoelectric hardness sensor, and an ultrasonic sensor. Among them: The millimeter-wave ice thickness radar is installed at the front end of the de-icing robot, with a detection range of 0 - 1.5 m; the infrared thermal imager is installed at the bottom or side of the robot, with a temperature measurement range of -80°C to 50°C; the piezoelectric hardness sensor is installed at the end of the robot's working arm or the part in contact with the ice surface; the ultrasonic sensor covers the side blind area for detection.

[0030] The controller of the de-icing robot adopts a fuzzy PID algorithm and makes real-time decisions on the de-icing mode according to the sensor data: When the ice layer thickness < 10 cm and the hardness < 5 MPa, only the de-icing shovel mechanism is enabled; when 10 cm ≤ thickness ≤ 30 cm or 5 MPa ≤ hardness ≤ 20 MPa, the drill-shovel collaborative mode is enabled; when the thickness > 30 cm or the hardness > 20 MPa, the laser-drill combined breaking mode is enabled. For thin ice layers with a thickness < 2 cm, high-frequency laser pulse pitting treatment is adopted.

[0031] 2. Introduction to the de-icing working principle

[0032] (1) Laser de-icing mechanism: Using a high-energy laser beam, through directional emission, the high energy is accurately transmitted to the ice layer surface. After the energy of the laser is absorbed by the ice layer, it is converted into heat energy, quickly heating the ice layer to make it melt. Due to its high energy transmission efficiency, it can quickly melt the ice layer and is suitable for some areas that are difficult to reach by mechanical means or require fine de-icing.

[0033] (2) De-icing shovel mechanism: Made of high-strength materials, it has a sharp edge and a strong structure. During operation, the de-icing shovel mechanism shovels back and forth or left and right through mechanical movement, uses the sharp edge to cut into the space between the ice layer and the attachment surface, and then shovels up and removes a large area of the ice layer with the help of the strong structure. It is suitable for quickly dealing with large areas of relatively thin ice layers.

[0034] (3) De-icing drill mechanism: Adopts a high-speed rotating drill bit, which is driven by a motor to achieve high-speed rotation. When the drill bit touches a hard or thick ice layer, the high-speed rotation breaks the ice layer, decomposes the ice layer into small pieces, and then these small pieces of ice layer can be removed through other auxiliary methods (such as assisted by the de-icing shovel mechanism).

[0035] 3. Cooperative working principle of the de-icing mechanisms

[0036] The deicing mechanism of the polar ocean platform deicing robot mainly includes a laser deicing mechanism 3, a deicing shovel mechanism 1 and a deicing drill mechanism 2. These three deicing mechanisms are connected to a base. The deicing shovel mechanism is located on both sides of the front of the robot, extending forward and can be flexibly adjusted; the deicing drill mechanism 2 is located inside the deicing shovel mechanism 1; and the laser deicing mechanism 3 is located at a relatively high position above. They form an overall layout of coordinated work around the base. This connection method allows each mechanism to cooperate with each other during work without interfering with each other, and at the same time can be flexibly switched or enabled at the same time according to different deicing needs.

[0037] When the three mechanisms work together, they can be used in combination according to the thickness, hardness and distribution of the ice layer. For example, for thinner large-area ice layers, the de-icing shovel mechanism 1 is used first to quickly remove them; when encountering locally thicker or harder ice layers, the de-icing drill mechanism 2 is started to break them, and then the de-icing shovel mechanism 1 is used to clean them; for some special locations or ice layers that need to be carefully processed, the laser de-icing mechanism 3 is used to melt and remove them, thereby achieving efficient and comprehensive de-icing work.

[0038] 4. Detailed introduction of the central control organization

[0039] Two central control mechanisms 4 are arranged at the front and rear of the de-icing robot. The de-icing mechanisms are both arranged in front of the central control mechanism 4 located in front of the de-icing robot. The two central control mechanisms 4 are connected by a steering mechanism 5. The two central control mechanisms 4 are both connected to the climbing mechanism 5 on the left and right, and drive the clamping and loosening of the climbing mechanism to realize the forward and backward movement of the de-icing robot.

[0040] Furthermore, the central control mechanism 4 includes an arched housing, and a robot drive frame 1 4-1, a robot drive frame 2 4-2, a robot drive frame 3 4-3, a robot drive frame 4 4-4, a planetary screw module 4-5, a drive motor 4-6, and a main frame 4-7 are arranged below the arched housing. The planetary screw module 4-5, the drive motor 4-6, the main frame 4-7 and related connections and matching parts are installed on the robot drive frame, and each robot drive frame corresponds to a pair of clamps of the climbing mechanism. The drive motor 4-6 drives the planetary screw module 4-5 to rotate, thereby realizing the clamping and loosening action of the climbing mechanism.

[0041] 5. Detailed introduction of steering mechanism

[0042] The steering mechanism 5 includes a steering drive motor 5-1, a steering bracket 5-2, and a mechanical arm connector 5-3. The steering drive motor 5-1 drives the two universal joints of the universal transmission device to swing at different angles, and then connects the front and rear parts of the de-icing robot through the two mechanical arm connectors 5-3 arranged in front and back, thereby realizing the steering and climbing angle adjustment of the de-icing robot.

[0043] 6. Detailed introduction of climbing mechanism

[0044] The climbing mechanism 6 includes a first - stage hinge 6 - 1, a first - stage robotic arm 6 - 2, a spiny flexible anti - slip block 6 - 3, a first - stage hydraulic transmission mechanism 6 - 4, a second - stage hinge 6 - 5, a second - stage robotic arm 6 - 6, a second - stage hydraulic transmission mechanism 6 - 7, a third - stage hinge 6 - 8, a third - stage male - head robotic arm 6 - 9, and a third - stage female - head robotic arm 6 - 10.

[0045] Among them, a pair of clamping jaws are connected to the robotic - arm driving frame in the central control mechanism 4 on the left and right. The robotic - arm driving frame is connected to the first - stage hinge 6 - 1. The first - stage hinge 6 - 1 is sequentially connected to the first - stage robotic arm 6 - 2, the second - stage hinge 6 - 5, the second - stage robotic arm 6 - 6, the third - stage hinge 6 - 8, and the third - stage male - head robotic arm 6 - 9. Between the first - stage hinge 6 - 1, the second - stage hinge 6 - 5, and the third - stage hinge 6 - 8, there are respectively connected a first - stage hydraulic transmission mechanism 6 - 4 and a second - stage hydraulic transmission mechanism 6 - 7. The hydraulic transmission mechanism realizes the adjustment of the angular position between each section of the clamping jaws, so as to ensure the accuracy of the clamping and releasing actions of the clamping jaws.

[0046] Specifically, a motor is arranged inside the first - stage hinge 6 - 1. The motor drives the first - stage robotic arm 6 - 2 to swing. One end of the first - stage hydraulic transmission mechanism 6 - 4 is hinged to the end of the first - stage robotic arm 6 - 2, and the other end is hinged to the end of the second - stage robotic arm 6 - 6. Thus, the swing of the second - stage robotic arm 6 - 6 is driven by the telescopic movement of the first - stage hydraulic transmission mechanism 6 - 4. One end of the second - stage hydraulic transmission mechanism 6 - 7 is hinged to the end of the second - stage robotic arm 6 - 6, and the other end is hinged to the end of the third - stage male - head / female - head robotic arm at the third - stage hinge 6 - 8. The swing of the third - stage male - head / female - head robotic arm is driven by the telescopic movement of the second - stage hydraulic transmission mechanism 6 - 7.

[0047] In order to improve the adhesion of the clamping jaws of the climbing mechanism on the ice surface, spiny flexible anti - slip blocks 6 - 3 are detachably installed below the first - stage robotic arm 6 - 2 and the second - stage robotic arm 6 - 6. The spiny flexible anti - slip block 6 - 3 is a bionic scale anti - slip device.

[0048] 7. Working principle of the climbing mechanism

[0049] During the climbing process, the de - icing robot is fixed by piercing the ice layer with the spiny flexible anti - slip blocks 6 - 3 at the joints of the first pair and the third pair of clamping jaws from the front to the back. Then, after the claws at the end are closed and held tightly, the second and fourth pairs of clamping jaws move forward through the lead screw. When climbing, the first and third pairs of clamping jaws grasp first. After the first and third pairs of clamping jaws grasp and fix, the second and fourth pairs of clamping jaws move forward through the lead screw. After reaching a certain distance, they stop. After the second and fourth pairs of clamping jaws grasp, the first and third pairs of clamping jaws release and then move forward. This process is repeated, and the de - icing robot will move forward steadily. When the de - icing robot needs to turn, it is necessary to first release the first and second pairs of clamping jaws, rotate to the required angle through the steering mechanism 5, and then the third and fourth pairs of claws move forward.

[0050] The climbing mechanism adopts a hydraulic drive system, hydraulic telescopic connecting rods, and three joints cooperate with the gripper to move, combined with a detachable bionic scale anti-slip structure, and adopts a grasping and holding form to ensure the adhesion of the robot on the ice-covered iron frame.

[0051] Planetary lead screw module: The half-smooth rod and half-lead screw enable the gripper to move at intervals. Through the rotation of the lead screw, the rollers will roll in the spiral groove of the lead screw and at the same time make planetary motion along the inner raceway of the nut. The movement of the rollers will drive the nut to move axially along the lead screw, converting the rotational motion of the motor into linear motion output, thus achieving efficient energy transfer and precise power control.

[0052] The steering mechanism is the key to the flexibility of the robot. It adopts a design combining a universal joint and a spherical joint, and is equipped with a high-precision motor inside, enabling the robot to perform precise and flexible steering operations during work. The universal joint allows the robot to rotate freely in multiple directions, while the spherical joint provides additional degrees of freedom, enabling the robot to adapt to more complex steering requirements. The built-in high-precision motor ensures the accuracy and rapid response of the steering operation.

[0053] The de-icing mechanism includes a laser de-icing mechanism, a de-icing shovel mechanism, and a de-icing drill mechanism. The laser de-icing mechanism uses a high-energy laser beam to heat and melt the ice layer, with advantages such as high directional energy transmission efficiency, high speed, and high efficiency; the de-icing shovel mechanism is made of high-strength materials, has a sharp edge and a strong structure, and is used to quickly remove large areas of ice; the de-icing drill mechanism uses a high-speed rotating drill bit to break and remove the ice layer, which is suitable for quickly removing hard or thick ice layers.

[0054] 8. Design of the sensing and control system

[0055] The sensing and control system is equipped with a multi-sensor array, including: a 77GHz millimeter-wave ice layer thickness radar (detection range 0 - 1.5m, resolution ±2cm). Since it is necessary to detect the ice layer situation ahead as early as possible to avoid collisions or adjust the de-icing strategy, and the radar is usually suitable for long-distance detection, so the front-end position is appropriate. Therefore, the ice layer thickness radar is installed at the front end of the robot.

[0056] Infrared thermal imager (temperature measurement range -80°C to 50°C, thermal sensitivity 50mK). The role of the thermal imager is to detect temperature changes, which can be used to identify the boundary between the ice layer and the underlying structure, or monitor the temperature changes during the de-icing process. The installation position is at the bottom or side of the robot, close to the ice surface, in order to accurately measure the surface temperature distribution. However, if the robot is moving, more comprehensive coverage is required, so it can also be installed at multiple positions around the fuselage, but mainly at the bottom or front end, combined with the data of the radar.

[0057] Piezoelectric hardness sensor (range 0 - 50 MPa, accuracy ±0.5% FS), which needs to directly contact the ice surface to measure hardness, so it is installed at the end of the robot's operating arm or the part in contact with the ice surface, such as near the ice scraping device. In this way, when the robot performs ice removal operations, the sensor can provide real-time feedback on the hardness of the ice, helping to adjust the ice removal force and avoid damaging the equipment or structure.

[0058] The controller adopts a fuzzy PID algorithm and makes real-time decisions on the ice removal mode according to the sensor data:

[0059] When the ice layer thickness < 10 cm and the hardness < 5 MPa, the ice scraping mechanism is preferentially activated;

[0060] When 10 cm ≤ thickness ≤ 30 cm or 5 MPa ≤ hardness ≤ 20 MPa, the drilling - scraping collaborative mode is activated;

[0061] When the thickness > 30 cm or the hardness > 20 MPa, the laser - drill combined breaking mode is activated;

[0062] For thin ice layers with a thickness < 2 cm, high - frequency (100 Hz) laser pulse pitting treatment is adopted.

[0063] The working process of the embodiment of this sensing control system: The ice removal robot first scans the thickness of the ice layer in front through radar to determine the area to be processed. The thermal imager detects the temperature distribution of the ice layer to find thinner or more fragile areas, or monitors the temperature change after ice removal. The hardness sensor measures the hardness when contacting the ice surface and adjusts the force of the ice removal tool. The controller synthesizes this data and decides which ice removal mode to use, such as scraping, drilling or laser scraping. The fuzzy PID algorithm may be used to dynamically adjust parameters, such as the drill speed or heating power, to adapt to different ice layer conditions.

[0064] At the same time, the collaborative work between sensors needs to be considered. For example, after the radar detects a thick ice layer, the thermal imager confirms whether the temperature is suitable for melting, and the hardness sensor confirms whether greater mechanical force is required. The central system selects the optimal strategy based on these inputs and may enable multiple methods simultaneously.

[0065] Considering the fusion processing of sensor data to ensure real - time performance and accuracy. The installation positions need to avoid mutual interference. For example, the positions of the radar and the thermal imager should not be too close to prevent electromagnetic interference. In addition, the piezoelectric sensor needs to be calibrated frequently because direct contact with the ice surface may cause wear or temperature changes that affect the accuracy.

[0066] As an alternative technical solution, it is also possible to use a multi - modal sensor combination, specifically including: an infrared sensor and a laser sensor form the core. The former has high accuracy and strong directivity and is used for monitoring temperature distribution. The laser sensor provides accurate measurements of the ice layer thickness and the distance to obstacles because of its non - contact and anti - interference characteristics.

[0067] The infrared sensor needs to monitor the ice layer temperature distribution, especially at the edges and in thin ice areas. Therefore, it needs to be installed at the bottom or the front end of the robot, close to the ice surface, in order to accurately measure the temperature. Multiple infrared sensors can also be distributed around the fuselage as needed to ensure comprehensive coverage.

[0068] Infrared sensor: Used to monitor the ice layer temperature distribution in real time, especially suitable for detecting the ice layer edges or thin ice areas (accuracy error ≤ 0.5 °C).

[0069] Laser sensor: Non-contact measurement of the ice layer thickness (accuracy up to ±1 mm) and the distance to obstacles (detection range > 100 m), with strong anti-interference ability. The laser sensor is used for non-contact measurement of the ice layer thickness and the distance to obstacles, with high accuracy. Therefore, it needs to be installed at the front of the robot to scan the ice layer and obstacles ahead in advance during travel.

[0070] The ultrasonic sensor is used as an auxiliary to cover long-distance obstacle detection.

[0071] Ultrasonic sensor: Covers the blind spots on the sides of the robot and assists in detecting small obstacles such as suspension clamps. The ultrasonic sensor is installed on the sides of the robot, especially in the blind spot positions. One or more may be installed on each side to detect suspension clamps, etc.

[0072] Vision sensor: Adopts a combination of a pan-tilt camera and a wide-angle lens to identify the ice layer type (such as glaze ice, mixed glaze) and the conductor state. The vision sensor is installed on the top or middle of the robot for 360-degree rotation.

[0073] In terms of the working process, the robot first scans the ice layer and obstacles ahead through the lidar to plan the path. The infrared sensor monitors the ice surface temperature in real time to identify thin ice areas. The ultrasonic sensor detects side obstacles to avoid collisions. The vision sensor identifies the ice layer type, such as differentiating between glaze ice and mixed glaze, and adjusts the ice removal strategy. The controller integrates all data and decides on a single or multiple combined methods of using a shovel, drill, or laser for ice removal.

[0074] At the same time, the cooperation between sensors needs to be considered. For example, the lidar and the infrared sensor jointly determine the ice layer edge. After the vision sensor confirms the ice layer type, an appropriate ice removal tool is selected. Meanwhile, the data from the ultrasonic sensor on the side can assist in adjusting the position and movement of the robot to avoid damaging the equipment.

[0075] To ensure real-time performance and accuracy. The installation positions need to avoid mutual interference, such as whether the operating frequencies of the lidar and the infrared sensor affect each other. In addition, the effect of the vision sensor under strong light or low light conditions may need to be adjusted.

[0076] As an alternative technical solution, it can also be designed as a bionic layout strategy:

[0077] Front-end Dense Array: Integrate infrared and laser sensors in the "head" of the robot, simulate the human visual focus area, and prioritize the processing of ice conditions within 3 meters ahead.

[0078] Lateral and Top Collaboration: Ultrasonic sensors are distributed in an arc on both sides, and lidar is installed on the top to form a 360° detection coverage to avoid collisions with suspension clamps.

[0079] Redundant Design: Key sensors (such as infrared temperature measurement) adopt a dual-redundancy configuration to ensure that a single-point failure does not affect the operation.

[0080] The layout strategy of sensor bionics aims to optimize the distribution and configuration of sensors by simulating the layout of biological sensory organs, such as imitating the layout of the auditory organs of certain organisms (such as bats), to optimize the reception and positioning of sound waves, thereby improving the perception ability and reliability of the device or system.

[0081] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A polar ocean platform de-icing robot, characterized in that: The deicing robot comprises an ice-shoveling mechanism (1), an ice-shoveling drill mechanism (2), a laser deicing mechanism (3), a central control mechanism (4), a steering mechanism (5), a climbing mechanism (6), and a sensor control system; two central control mechanisms (4) are arranged in front and behind the deicing robot; the ice-shoveling mechanism (1), the ice-shoveling drill mechanism (2), and the laser deicing mechanism (3) are all arranged in front of the central control mechanism (4) in front of the deicing robot; the two central control mechanisms (4) are connected by the steering mechanism (5); the two central control mechanisms (4) are connected to the climbing mechanism (6) on the left and right, and drive the clamping and loosening of the climbing mechanism (6); The sensing control system includes a sensor and a controller, wherein the sensor includes a millimeter-wave ice thickness radar, an infrared thermal imager, a piezoelectric hardness sensor, and an ultrasonic sensor, wherein: the millimeter-wave ice thickness radar is installed at the front end of the de-icing robot; the infrared thermal imager is installed at the bottom or side of the robot; the piezoelectric hardness sensor is at the end of the robot's working arm or the part that contacts the ice surface; the ultrasonic sensor covers the side blind spot detection; the controller adopts a fuzzy PID algorithm to make real-time decisions on the de-icing mode according to the sensor data: when the ice thickness is less than 10 cm and the hardness is less than 5 MPa, the de-icing shovel mechanism is enabled alone; when 10 cm ≤ thickness ≤ 30 cm or 5 MPa ≤ hardness ≤ 20 MPa, the drill-shovel collaborative mode is enabled; when the thickness is greater than 30 cm or the hardness is greater than 20 MPa, the laser-drill joint breaking mode is enabled, and high-frequency laser pulse pitting treatment is used for thin ice layers with a thickness of less than 2 cm.

2. The deicing robot according to claim 1, characterized in that: The de-icing shovel mechanism (1), the de-icing drill mechanism (2), and the laser de-icing mechanism (3) are all connected to a base. The de-icing shovel mechanism (1) is located on both sides in front of the robot, extends forward and can be flexibly adjusted in position; the de-icing drill mechanism (2) is located on the inner side of the de-icing shovel mechanism (1); the laser de-icing mechanism (3) is located at a relatively high position above the de-icing robot. The laser de-icing mechanism (3) is located above the robot and heats the surface of the ice layer by directional emission of high-energy laser beams; the de-icing shovel mechanism (1) has a sharp edge and a solid structure, and removes a large area of ​​thin ice layer through mechanical movement; the de-icing drill mechanism (2) is equipped with a high-speed rotating drill bit for breaking thick ice layers.

3. The deicing robot according to claim 1, characterized in that: The steering mechanism (5) comprises a steering drive motor (5-1), a steering bracket (5-2), a mechanical arm connecting piece (5-3) and a universal transmission device. The steering drive motor (5-1) drives two universal joint forks of the universal transmission device to swing at different angles, and then connects the front and rear parts of the deicing robot through the two mechanical arm connecting pieces (5-3) arranged in front and back, thereby realizing the steering and climbing angle adjustment of the deicing robot.

4. The deicing robot according to claim 1, characterized in that: The climbing mechanism (6) comprises a primary hinge (6-1), a primary mechanical arm (6-2), a thorn-shaped flexible anti-sliding block (6-3), a primary hydraulic transmission mechanism (6-4), a secondary hinge (6-5), a secondary mechanical arm (6-6), a secondary hydraulic transmission mechanism (6-7), a tertiary hinge (6-8), a tertiary male mechanical arm (6-9), and a tertiary female mechanical arm (6-10), a pair of clamps connected to a mechanical arm drive frame in the central control mechanism (4) on the left and right, the mechanical arm drive frame connected to the primary hinge (6-1), the primary hinge (6-1) connected in sequence to the primary mechanical arm (6-2), the secondary hinge (6-5), the secondary mechanical arm (6-6), and the tertiary hinge (6-8). The arm (6-6), the three-stage hinge (6-8), the three-stage male mechanical arm (6-9), the first-stage hinge (6-1), the second-stage hinge (6-5), and the third-stage hinge (6-8) are respectively connected with the first-stage hydraulic transmission mechanism (6-4) and the second-stage hydraulic transmission mechanism (6-7), and the first-stage hydraulic transmission mechanism (6-4) and the second-stage hydraulic transmission mechanism (6-7) can adjust the angle position between each joint of the clamping jaw, so as to ensure the accuracy of the clamping action and the loosening action of the clamping jaw; a detachable thorn-shaped flexible anti-sliding block is provided under the first-stage and second-stage mechanical arms, and the detachable thorn-shaped flexible anti-sliding block is made of shape memory alloy.

5. The de-icing robot according to claim 4, characterized in that: A motor is arranged inside the primary hinge (6-1), and the motor drives the primary mechanical arm (6-2) to swing. One end of the primary hydraulic transmission mechanism (6-4) is hinged to the end of the primary mechanical arm (6-2), and the other end is hinged to the end of the secondary mechanical arm (6-6), so that the secondary mechanical arm (6-6) is driven to swing through the extension and contraction of the primary hydraulic transmission mechanism (6-4); one end of the secondary hydraulic transmission mechanism (6-7) is hinged to the end of the secondary mechanical arm (6-6), and the other end is hinged to the end of the third-level male mechanical arm or the female mechanical arm at the third-level hinge (6-8), so that the third-level male mechanical arm or the female mechanical arm is driven to swing through the extension and contraction of the secondary hydraulic transmission mechanism (6-7).

6. The deicing robot according to claim 1, characterized in that: The sensor control system can also adopt the following method: the infrared sensor and the laser sensor constitute the core, the infrared sensor is used for temperature distribution monitoring, and the laser sensor provides accurate measurement of ice thickness and obstacle distance; the infrared sensor is installed at the bottom or front end of the robot, close to the ice surface to accurately measure the temperature; the laser sensor measures the ice thickness and obstacle distance without contact, and is installed at the front of the robot; an ultrasonic sensor is set as an auxiliary to cover long-distance obstacle detection; the ultrasonic sensor is installed on the side of the robot to cover the robot's side blind spot; the visual sensor is installed on the top or middle of the robot, and a pan-tilt camera and a wide-angle lens are used to identify the ice type and wire status.

7. The deicing robot according to claim 3, characterized in that: The central control mechanism (4) comprises an arched outer shell, and four mechanical arm drive frames and a planetary screw module (4-5) are arranged below the arched outer shell. The planetary screw module (4-5), the drive motor (4-6), and the main frame (4-7) are installed on the mechanical arm drive frame. Each of the mechanical arm drive frames corresponds to a pair of the clamping claws of the climbing mechanism, and the clamping force of the clamping claws is controlled by the drive motor (4-6).

8. A method for operating an ice removal robot as claimed in claim 1, characterized in that: The de-icing robot first uses the millimeter-wave ice thickness radar to scan the thickness of the ice in front and determine the area that needs to be processed; the infrared thermal imager detects the temperature distribution of the ice layer to find thinner or more fragile areas, or monitors the temperature changes after de-icing; the piezoelectric hardness sensor measures the hardness when contacting the ice surface and adjusts the strength of the de-icing tool; the sensor control system integrates these data to decide which de-icing mode to use, such as shoveling, drilling or laser shoveling, or two or three combined modes; the controller uses a fuzzy PID algorithm to achieve the rotation speed or heating power of the de-icing mechanism to adapt to different ice conditions; at the same time, the controller needs to consider the collaborative work between the sensors, select the optimal strategy based on the signal input of each sensor, and enable multiple methods at the same time; the millimeter-wave ice thickness radar and the infrared thermal imager should not be too close to prevent electromagnetic interference; direct contact with the ice surface will cause wear or temperature changes to affect the accuracy, so the piezoelectric sensor needs to be calibrated regularly.

9. A working method of the deicing robot as claimed in claim 6, characterized in that: The robot first uses the laser sensor to scan the ice layer and obstacles in front and plan the path. The infrared sensor monitors the temperature of the ice surface in real time and identifies the thin ice area. The ultrasonic sensor detects side obstacles to avoid collisions. The visual sensor identifies the type of ice layer and adjusts the de-icing strategy. The controller integrates all data to decide on a single or multiple combination of shovels, drills or lasers for de-icing. At the same time, the data from the ultrasonic sensor on the side can assist in adjusting the position and movement of the robot to avoid damage to the equipment.

10. The de-icing robot according to claim 1, characterized in that: The sensor control system of the de-icing robot can also adopt a bionic layout strategy: a dense array of infrared and laser sensors is integrated at the front end, ultrasonic sensors are distributed in an arc shape on the side, a laser radar is installed on the top, and the infrared sensor adopts a dual redundant configuration.

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