An ice-under self-walking detection robot
By integrating multiple systems and sensors through a self-propelled under-ice detection robot, the problems of limited detection range, high cost, and non-real-time data in traditional ice detection technologies have been solved. This has enabled efficient, safe, and multi-point sampling under ice detection, ensuring data accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- JILIN UNIVERSITY
- Filing Date
- 2026-03-09
- Publication Date
- 2026-05-29
AI Technical Summary
Traditional ice layer detection technologies suffer from limitations in detection range, high costs, sample deterioration during transportation, and non-real-time data acquisition, making it difficult to achieve efficient, safe, and multi-point sampling for sub-ice detection.
Design a self-propelled underwater ice exploration robot that integrates backward drilling, upward turning and walking, cable storage and deployment, telescopic, downward turning and walking, and forward drilling systems. Equipped with a variety of sensors and detection devices, it can realize drilling, turning and retrieval, and perform real-time in-situ analysis.
It enables free movement and multi-point detection within the ice layer, reduces detection costs, ensures real-time and accurate data, avoids sample deterioration, and solves the problem of recovering the sub-ice detector.
Smart Images
Figure CN122108671A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a detection robot, and more particularly to a self-propelled underwater ice detection robot. Background Technology
[0002] Currently, polar ice sheets, alpine glaciers, and other cryosphere regions store historical information about Earth's climate and environmental evolution, and the subglacial water beneath them is an important source for exploring life forms in extreme environments. Direct drilling and in-situ exploration in these regions have significant scientific and applied value for studying global climate change mechanisms, searching for signs of extraterrestrial life, and geological exploration. Traditional ice core exploration primarily relies on ice core drilling technology. Ice core samples are obtained through mechanical or thermal melting methods and then sent to a laboratory for further analysis. This technology has several drawbacks: First, deep ice core drilling requires drilling from the surface to the target depth and can only achieve single-point sampling, resulting in a long exploration time, high cost, and limited exploration range. Second, the drilling equipment is complex and requires stringent transportation and logistical support, leading to high exploration costs, and the in-situ storage and long-distance transportation of ice core samples are difficult. Third, during the ice core drilling process, changes in pressure and temperature can easily alter the physicochemical properties of the ice core, directly affecting the accuracy of subsequent laboratory analysis results. Fourth, the entire process from ice core drilling and transportation to laboratory analysis is lengthy, making it impossible to achieve real-time acquisition and application of exploration data.
[0003] To address the aforementioned issues, there is an urgent need to develop an ice-penetrating device that can move freely within the ice layer, achieve real-time in-situ detection, and be safely retrieved. This would overcome the limitations of single-point sampling, improve detection efficiency and data accuracy, while reducing operating costs and difficulties in harsh environments, and provide scientific guidance for subsequent deep ice core drilling deployment. Summary of the Invention
[0004] The main purpose of this invention is to provide a self-propelled ice-penetrating robot to solve many problems that are common in traditional ice layer detection technology.
[0005] The self-propelled underwater ice exploration robot provided by this invention includes a backward drilling system, an upward turning and walking system, a control system, a cable storage and retraction system, a telescopic system, a downward turning and walking system, and a forward drilling system. The aforementioned seven systems are arranged coaxially in sequence. The control system is connected to the backward drilling system, the upward turning and walking system, the cable storage and retraction system, the telescopic system, the downward turning and walking system, and the forward drilling system. The control system controls the operation of the backward drilling system, the upward turning and walking system, the cable storage and retraction system, the telescopic system, the downward turning and walking system, and the forward drilling system. The backward drilling system, the upward turning and walking system, the control system, the cable storage and retraction system, the telescopic system, the downward turning and walking system, and the forward drilling system are all connected by bolts through their respective system housings and sealed with sealing rings.
[0006] The retractable drilling system includes a retractable thermal fusion drill bit, an upper resistance wire, a retractable drilling system housing, a surveying sonar, a sealing chamber, a sealing cover, and a lip seal. The retractable thermal fusion drill bit is screwed to the retractable drilling system housing. The upper resistance wire is tightly wound around the inner wall of the retractable thermal fusion drill bit and secured with bolts, used to heat the drill bit for thermal fusion drilling. Several surveying sonars are installed, equidistantly screwed to the side wall of the retractable drilling system housing. When the drill bit penetrates the ice layer and enters the sub-ice water layer, the surveying sonars scan the underwater topography. The top of the cap is nested with the retracting hot melt drill bit, and the bottom of the sealing cap is screwed to the sealing chamber. The sealing chamber has a built-in lip seal ring that forms a dynamic seal with the cable in the cable pipe. The bottom of the sealing chamber is screwed to the cable pipe. The outer shell of the retracting drilling system is coaxially nested with the outer shell of the traveling system in the upper steering and traveling system. They are fixed together by several bolts facing the axis and sealed with a sealing ring. The measuring sonar and the upper resistance wire are both connected to the control system. The measuring sonar can transmit the collected data to the control system in real time. The control system controls the heating of the upper resistance wire.
[0007] The upper and lower steering travel systems have the same structure. Both systems include a travel system housing, a slide base, transmission arms, vertical sliders, horizontal sliders, roller motors, and supporting electric push rods. The slide base is screwed to the bottom step of the travel system housing. The horizontal sliders are mounted on the upper part of the slide base and can slide along the horizontal groove on the upper part of the slide base. The vertical sliders are mounted on the lower part of the slide base and can slide along the vertical groove on the lower part of the slide base. The horizontal and vertical sliders are connected by two transmission arms via pins. There are four sets of horizontal and vertical sliders, evenly arranged at 90 degrees. Each horizontal slider is bolted to two roller motors, and the bottom of each vertical slider is connected to a supporting electric push rod via a pin. Four supporting electric push rods are arranged evenly at 90-degree angles to each other. The four supporting electric push rods are fixed to the inner wall steps of the walking system housing by bolts. The bottom of the walking system housing is nested with the control system housing, and the top of the walking system housing is nested with the retracting drilling system housing. The walking system housing is fixed by several bolts facing the central axis. The drum motor and the supporting electric push rods are both connected to the control system and controlled by the control system. During operation, the vertical slider is pushed down the vertical groove in the chute base by controlling the supporting electric push rods. At the same time, the vertical slider drives the transmission arm to push the horizontal slider and the drum motor out of the drill bit along the horizontal groove in the chute base. This enables the drill bit to be anchored and turned in the ice hole. The drum motor enables crawling and the telescopic system completes the peristaltic movement.
[0008] The cable storage and winding system includes an upper storage and winding housing, a lower storage and winding housing, a drum cover, bearings, a drum, a drum support, a slewing bearing, a flange, a reducer, a drum servo motor, a rope-guiding servo motor, a worm gear frame, a worm, a rope guide, a coupling, a first guide wire, a second guide wire, a third guide wire, a miniature hyperspectral imager, and an acrylic plate. The drum servo motor and reducer are bolted together and driven by a key. The reducer output shaft is bolted to the bottom of the flange. The upper end of the flange is bolted to the bottom of the slewing bearing. The upper end of the slewing bearing is bolted to the bottom of the drum. A bearing is coaxially mounted on the inner step of the upper end of the drum. The upper end is equipped with a drum cover and bolted to the top of the drum. The motorless end of the drum top is nested into a drum support. The drum servo motor and reducer are both bolted to the drum support. The drum support is tightly attached to the inner wall of the storage and retraction housing and is fixed with bolts. The worm gear is fixed in the worm gear holder, and the thread on the worm gear mates with the rope guide. The rope guide is located in the vertical groove of the worm gear holder. The worm gear holder is tightly attached to the inner wall of the storage and retraction housing and is fixed with bolts. The bottom and top of the coupling are bolted to the top of the worm gear and the bottom of the rope guide servo motor, respectively. The rope guide servo motor is fixed to the inner wall of the storage and retraction housing with bolts. The acrylic plate is fixed to the storage and retraction housing with bolts. The storage and take-up outer shell is located on the outside, and a sealing ring is installed at the connection point. The upper and lower storage and take-up outer shells are fixed together by several bolts facing the central axis. The first guide wire is fixed to the top of the drum support by bolts, and the miniature hyperspectral imager is fixed to the top of the first guide wire by bolts. The second guide wire is fixed to the top of the rope-laying servo motor by bolts, and the third guide wire is fixed to the top of the second guide wire by bolts. The miniature hyperspectral imager, the drum servo motor, and the rope-laying servo motor are all connected to the control system. The miniature hyperspectral imager can transmit the collected data to the control system in real time, and the control system controls the drum according to the transmitted data. The operation of the servo motor and the rope-laying servo motor: During operation, the servo motor drives the drum to rotate, thereby rotating the reducer and the drum to achieve cable winding and unwinding. At the same time, the servo motor drives the worm gear to rotate through the coupling, causing the rope layer to move up and down within the worm gear frame. Together with the three guide wires and cable conduits, the cable moves along a fixed path within the drill bit. During the retrieval and release process, the cable is evenly arranged on the drum and stored tightly and securely. Throughout the drilling process, the miniature hyperspectral imager can be controlled to scan the ice layer through a transparent acrylic plate to obtain information on the density of the ice and the vertical distribution of bubble content, and transmit this information to the control system in real time.
[0009] The telescopic system includes a telescopic system outer shell, a telescopic system inner cylinder, a miniature water quality sensor array, a telescopic electric push rod, a second pull rope displacement sensor, and a third wire drum. The telescopic electric push rod and the miniature water quality sensor array are bolted to both sides of the bottom step of the telescopic system outer shell. The third wire drum is bolted to the side wall of the telescopic system inner cylinder. The second pull rope displacement sensor is bolted to the side wall of the telescopic electric push rod, with the rope end of the second pull rope displacement sensor attached to the top of the telescopic system inner cylinder. The telescopic system outer shell and the telescopic system inner cylinder are coaxially nested, and a flat key is provided between them to prevent relative rotation. The top of the telescopic system inner cylinder is bolted to the push head of the telescopic electric push rod, and the inner cylinder is nested within the storage and retraction outer shell and connected by several... The drill bit is fixed to the central axis with bolts. The miniature water quality sensor array, the telescopic electric push rod, and the second pull rope displacement sensor are all connected to the control system. The miniature water quality sensor array and the second pull rope displacement sensor can transmit the collected data to the control system in real time. The control system controls the operation of the telescopic electric push rod based on the received data. By controlling the telescopic electric push rod and coordinating with the upper and lower steering travel systems, the drill bit can move in the ice hole. The second pull rope displacement sensor can monitor the push rod's pushing distance. A third cable drum is provided to ensure that the cable can be released normally when the telescopic electric push rod is extended and is retracted into the third cable drum during retrieval to prevent cable damage. During drilling, the miniature water quality sensor array can be controlled to analyze soluble impurities and ionic components in the ice layer.
[0010] The forward drilling system includes a forward thermal fusion drill bit, a lower resistance wire, a temperature sensor, a sampling tube, an adapter, a ball valve motor, a ball valve, a micro isotope detection device, a forward system housing, a forward system inner cylinder, a pressure sensor, a first wire drum, a second wire drum, a forward electric push rod, a first pull rope displacement sensor, and an inertial measurement unit. The lower resistance wire is tightly wound around the inner wall of the forward thermal fusion drill bit and fixed with bolts, used to heat the drill bit for drilling. The bottom of the adapter is nested in the bottom of the forward thermal fusion drill bit's inner cavity, and the top of the adapter is nested in the bottom of the forward system housing. The adapter is fixed by several bolts facing the central axis. The sampling tube passes through the bottom of the adapter and is nested within the forward thermal fusion drill bit. At the bottom, the top of the sampling tube is screwed to a ball valve. The torsion switch of the ball valve is screwed to the drive shaft of the ball valve motor. The bottom of the ball valve motor is bolted to the inner wall of the adapter. During normal drilling, the ball valve is closed, and the ice core entering the sampling tube will melt into water, which will not hinder drilling. When the designated position is reached, the ball valve is opened, and the water vapor generated by melting and the gas sealed in the ice layer will enter the micro isotope detection device to complete the quantitative analysis of isotopes and gas components in the water. The micro isotope detection device is screwed to the top of the ball valve. The temperature sensor is screwed into the inner cavity of the adapter. The bottom of the pressure sensor is bolted to the bottom of the forward system housing, and the top of the pressure sensor is connected to the forward motor via a flange. The push rod's push head is connected, and both the first and second wire drums are bolted to the side wall of the inner cylinder of the forward system. The first pull-rope displacement sensor is bolted to the side wall of the forward electric push rod, with the rope end of the first pull-rope displacement sensor tied to the bottom of the outer casing of the forward system. The forward electric push rod is bolted to the top of the inner cylinder of the forward system. The upper end of the inner cylinder of the forward system is nested within the outer casing of the travel system in the lower steering travel system and secured by several bolts facing the central axis. The bottom of the inner cylinder of the forward system is coaxially nested into the outer casing of the forward system. An inertial measurement unit is bolted to the cavity between the inner cylinder of the forward system and the outer casing of the travel system in the lower steering travel system. The system can monitor the direction of drill bit movement in real time. The temperature sensor is used to monitor the temperature of the drill bit during drilling, and the pressure sensor is used to monitor the drilling pressure during drilling. The wire drum is used to prevent the extension and retraction of the push rod from damaging the cable. The lower resistance wire, temperature sensor, ball valve motor, micro isotope detection device, pressure sensor, forward electric push rod, first pull rope displacement sensor, and inertial measurement unit are all connected to the control system. The temperature sensor, micro isotope detection device, pressure sensor, first pull rope displacement sensor, and inertial measurement unit can transmit the collected data to the control system in real time. The control system controls the operation of the lower resistance wire, ball valve motor, and forward electric push rod according to the transmitted data.
[0011] The control system includes a control system housing, a signal receiver / processor, a signal output device, and a cable conduit. The top of the cable conduit passes through the upper steering and travel system and is screwed into the sealed chamber inside the retracting drilling system. A lip seal is fitted over the cable conduit. The signal receiver / processor and the signal output device are connected and bolted to the inner cavity of the control system housing. The signal receiver / processor transmits received data to the signal output device in real time. The signal output device issues control commands based on the transmitted data. The signal receiver / processor is connected to the sweeping sonar, miniature hyperspectral imager, miniature water quality sensor array, second pull-rope displacement sensor, temperature sensor, miniature isotope detection device, pressure sensor, and first pull-rope position sensor. The displacement sensor and inertial measurement unit are connected. The scanning sonar, miniature hyperspectral imager, miniature water quality sensor array, second rope displacement sensor, temperature sensor, miniature isotope detection device, pressure sensor, first rope displacement sensor and inertial measurement unit can transmit the collected data to the signal receiving processor in real time. The signal output device is connected to the upper resistance wire, drum motor, support electric push rod, drum servo motor, rope servo motor, telescopic electric push rod, lower resistance wire, ball valve motor and forward electric push rod respectively. The signal output device controls the operation of the upper resistance wire, drum motor, support electric push rod, drum servo motor, rope servo motor, telescopic electric push rod, lower resistance wire, ball valve motor and forward electric push rod according to the data transmitted by the signal receiving processor.
[0012] The aforementioned signal receiver processor, signal output device, sweeping sonar, miniature hyperspectral imager, miniature water quality sensor array, second pull rope displacement sensor, temperature sensor, miniature isotope detection device, pressure sensor, first pull rope displacement sensor, inertial measurement unit, upper resistance wire, drum motor, support electric push rod, drum servo motor, rope laying servo motor, telescopic electric push rod, lower resistance wire, ball valve motor, and forward electric push rod are all assemblies of existing equipment; therefore, specific models and specifications are not detailed.
[0013] Working principle of the invention:
[0014] The self-propelled ice-penetrating robot provided by this invention, when advancing within the ice layer, controls the up-and-down steering system to extend the drum motor and anchor the drill bit inside the ice hole. Subsequently, it drives the forward electric push rod to extend the forward thermoplastic drill bit and controls the lower resistance wire to heat the drill bit, causing it to melt the ice and drill deeper. Simultaneously, the drum servo motor and rope-laying servo motor of the cable storage and retraction system work together to release the cable along multiple rope layers and cable conduits from the top of the retracting thermoplastic drill bit outside the drill bit. After the forward electric push rod is fully extended, it can directly drive the drum motor to rotate and retract the forward electric push rod, allowing the drill bit to move along the ice hole. Repeating the above process allows for continuous drilling. When it is necessary to retrieve the drill bit, the drum motor in the lower steering system extends, anchoring the drill bit inside the ice hole. Subsequently, it drives the telescopic electric push rod in the telescopic system to push the drill bit upward, providing drilling pressure and controlling the upper resistance wire to heat the drill bit. After the telescopic electric push rod is fully extended, all drum motors in the upper steering system are supported on the borehole wall, the lower steering system is retracted, and the telescopic push rod is retracted. This process is repeated to achieve a creeping return. Furthermore, the rotation of the drum motors in the lower steering system and the force driving the reel in the cable provide drilling pressure to achieve drill bit retrieval. This system allows for successful drill bit retrieval whether in water or ice.
[0015] When the robot needs to turn, based on the positioning of the inertial measurement unit, the roller motor on the same side as the turning direction in the upper steering system is deployed, while the roller motor on the opposite side of the turning direction in the lower steering system is deployed. This causes the drill bit to tilt at a certain angle within the ice hole, achieving the turning.
[0016] Once the drill bit reaches the predetermined depth, the control system drives the ball valve motor to open the ball valve, allowing meltwater from the ice layer and trapped gas to enter the micro isotope detection device for quantitative analysis of isotopes and gas components in the water. A micro hyperspectral imager deployed within the robot scans the ice layer, obtaining information on ice density and the vertical distribution of bubble content. A micro water quality sensor array in the telescopic system analyzes soluble impurities and ionic components in the ice layer. After the drill bit penetrates the ice to reach the subglacial lake, the robot's top-mounted sonar scans the lakebed topography.
[0017] The beneficial effects of this invention are:
[0018] The self-propelled sub-ice exploration robot provided by this invention can drill, turn, and retrieve within the ice layer, and perform in-situ analysis in real time. This invention utilizes a thermal drilling method to efficiently penetrate the ice layer and can adaptively anchor itself to the ice borehole wall through a mechanical structure during drilling, enabling it to ascend, descend, and turn along the borehole wall, ultimately returning safely along the original borehole path. It integrates multiple detection methods: a miniature isotope detection device performs quantitative analysis of isotopes and gas components in the water; a miniature hyperspectral imager scans the ice layer to obtain information on ice density and the vertical distribution of bubble content; and a miniature water quality sensor array analyzes soluble impurities and ionic components in the ice layer. If the drill penetrates the ice layer to reach the sub-ice lake, a scanning sonar on the top of the robot can scan the lakebed topography. In summary, this invention can freely turn and move within the ice layer, achieving "one-point drilling, multi-point detection," avoiding the limitations of traditional single-point coring methods and greatly expanding the detection range. Multiple sensors perform real-time in-situ analysis during drilling and movement, eliminating the lengthy cycle of ice sample transportation and laboratory processing, and avoiding potential contamination and deterioration of samples during transfer, thus ensuring the originality and accuracy of the data. A reliable in-hole anchoring and walking mechanism, combined with a pre-set retrieval path, ensures the robot can operate stably and return safely in complex ice environments, solving the key technical challenge of recovering under-ice detectors. The highly integrated modular design reduces external dependence, and the automated operation process reduces the need for continuous human intervention, facilitating deployment in harsh environments and reducing operating costs. Attached Figure Description
[0019] Figure 1 This is an overall sectional view of the robot described in this invention.
[0020] Figure 2 This is a cross-sectional view of the retractable drilling system described in this invention.
[0021] Figure 3 This is a cross-sectional view of the upward steering and walking system described in this invention.
[0022] Figure 4 This is a cross-sectional view of the control system described in this invention.
[0023] Figure 5 This is a cross-sectional view of the cable storage and take-up system described in this invention.
[0024] Figure 6 This is a cross-sectional view of the telescopic system described in this invention.
[0025] Figure 7 This is a schematic diagram of the downward steering and walking system described in this invention.
[0026] Figure 8 This is a schematic diagram of the forward drilling system described in this invention.
[0027] Figure 9 This is a schematic diagram of signal transmission and control of the control system described in this invention.
[0028] Figure 10 This is a schematic diagram illustrating the forward working principle of the present invention.
[0029] Figure 11 This is a schematic diagram illustrating the working principle of the backward movement described in this invention.
[0030] Figure 12 This is a schematic diagram illustrating the steering principle described in this invention.
[0031] Figure 13 This is a schematic diagram illustrating the working principle of the drill bit steering under inclined conditions as described in this invention.
[0032] The annotations in the above figure are as follows:
[0033] 1. Reverse drilling system; 2. Upward steering and travel system; 3. Control system.
[0034] 4. Cable storage and retraction system; 5. Telescopic system; 6. Downward steering and travel system.
[0035] 7. Forward drilling system; 8. Reverse heat-melting drill bit; 9. Upper resistance wire.
[0036] 10. Retractable drilling system housing; 11. Measured sweep sonar; 12. Sealed chamber; 13. Sealed cover.
[0037] 14. Lip seal ring; 15. Cable conduit; 16. Carriage system housing; 17. Slide base.
[0038] 18. Drive arm; 19. Vertical slider; 20. Horizontal slider; 21. Drum motor
[0039] 22. Supporting electric push rod; 23. Control system housing; 24. Storage and unfolding upper housing.
[0040] 25. Storage and retraction outer casing; 26. Drum cover; 27. Bearing; 28. Drum; 29. Drum support.
[0041] 30. Slewing bearing; 31. Flange; 32. Reducer; 33. Drum servo motor
[0042] 34. Rope-laying servo motor; 35. Worm gear frame; 36. Worm gear; 37. Rope-laying device.
[0043] 38. Coupling; 39. First guide wire coupling; 40. Second guide wire coupling; 41. Third guide wire coupling
[0044] 42. Miniature hyperspectral imager; 43. Acrylic sheet; 44. Telescopic system housing
[0045] 45. Telescopic system inner cylinder; 46. Miniature water quality sensor array; 47. Telescopic electric push rod
[0046] 48. Second pull rope displacement sensor; 49. Third wire drum; 50. Forward hot melt drill bit.
[0047] 51. Lower resistance wire; 52. Temperature sensor; 53. Sampling tube; 54. Adapter
[0048] 55. Ball valve motor; 56. Ball valve; 57. Miniature isotope detection device.
[0049] 58. Forward system housing 59. Forward system inner cylinder 60. Pressure sensor
[0050] 61. First wire drum; 62. Second wire drum; 63. Forward electric push rod
[0051] 64. First rope displacement sensor; 65. Inertial measurement unit; 66. Signal receiver and processor
[0052] 67. Signal output device. Detailed Implementation
[0053] Please see Figures 1 to 13 As shown:
[0054] The self-propelled ice exploration robot provided by this invention includes a backward drilling system 1, an upward turning and walking system 2, a control system 3, a cable storage and retraction system 4, a telescopic system 5, a downward turning and walking system 6, and a forward drilling system 7. The aforementioned seven systems are arranged coaxially in sequence. The control system 3 is connected to the backward drilling system 1, the upward turning and walking system 2, the cable storage and retraction system 4, the telescopic system 5, the downward turning and walking system 6, and the forward drilling system 7. The control system 3 controls the operation of the backward drilling system 1, the upward turning and walking system 2, the cable storage and retraction system 4, the telescopic system 5, the downward turning and walking system 6, and the forward drilling system 7. The backward drilling system 1, the upward turning and walking system 2, the control system 3, the cable storage and retraction system 4, the telescopic system 5, the downward turning and walking system 6, and the forward drilling system 7 are all connected by bolts through their respective system housings and sealed with sealing rings.
[0055] The retractable drilling system 1 includes a retractable heat-melting drill bit 8, an upper resistance wire 9, a retractable drilling system housing 10, a scanning sonar 11, a sealing chamber 12, a sealing cover 13, and a lip seal 14. The retractable heat-melting drill bit 8 is screwed to the retractable drilling system housing 10. The upper resistance wire 9 is tightly wound around the inner wall of the retractable heat-melting drill bit 8 and fixed with bolts, used to heat the retractable heat-melting drill bit 8 to achieve heat-melting drilling. Several scanning sonars 11 are assembled, and these sonars 11 are equidistantly screwed to the side wall of the retractable drilling system housing 10. When the drill bit penetrates the ice layer and enters the sub-ice water layer, the scanning sonars 11 are used to scan the underwater topography. The sealing cover... The top of the 13 is nested with the retracting hot melt drill bit 8. The bottom of the sealing cover 13 is screwed to the sealing chamber 12. The sealing chamber 12 has a built-in lip seal ring 14 that forms a dynamic seal with the cable in the cable pipe 15. The bottom of the sealing chamber 12 is screwed to the cable pipe 15. The retracting drilling system housing 10 is coaxially nested with the walking system housing 16 in the upper steering and walking system 2. They are fixedly connected by several bolts facing the axis and sealed with a sealing ring. The measuring sonar 11 and the upper resistance wire 9 are both connected to the control system 3. The measuring sonar 11 can transmit the collected data to the control system 3 in real time. The control system 3 controls the heating of the upper resistance wire 9.
[0056] The upper steering travel system 2 and the lower steering travel system 6 have the same structure. Both systems include a travel system housing 16, a slide base 17, a transmission arm 18, a vertical slider 19, a horizontal slider 20, a roller motor 21, and a supporting electric push rod 22. The slide base 17 is screwed to the bottom step of the travel system housing 16. The horizontal slider 20 is mounted on the upper part of the slide base 17 and can slide along the horizontal groove on the upper part of the slide base 17. The vertical slider 19 is mounted on the lower part of the slide base 17 and can slide along the vertical groove on the lower part of the slide base 17. The horizontal slider 20 and the vertical slider 19 are connected by two transmission arms 18 through a pin. Four sets of horizontal sliders 20 and vertical sliders 19 are assembled and evenly arranged at 90 degrees. Each horizontal slider 20 is fixed with two roller motors 21 by bolts. The bottom of each vertical slider 19 is connected to a supporting electric push rod 22 through a pin. The push rod 22 consists of four adjacent electric push rods 22 arranged at 90-degree angles. The four electric push rods 22 are fixed to the inner wall steps of the walking system housing 16 by bolts. The bottom of the walking system housing 16 is nested with the control system housing 23, and the top of the walking system housing 16 is nested with the retracting drilling system housing 10. The walking system housing 16 is fixed by several bolts facing the central axis. The drum motor 21 and the electric push rods 22 are both connected to the control system 3 and are controlled by the control system 3. During operation, the vertical slider 19 is pushed down the vertical groove in the slide base 17 by the control electric push rod 22. At the same time, the vertical slider 19 drives the transmission arm 18 to push the horizontal slider 20 and the drum motor 21 out of the drill bit along the horizontal groove in the slide base 17. This enables the drill bit to be anchored and turned in the ice hole. The drum motor 21 enables crawling and the telescopic system 5 completes the peristaltic action.
[0057] The cable storage and winding system 4 includes an upper storage and winding housing 24, a lower storage and winding housing 25, a drum cover 26, a bearing 27, a drum 28, a drum support 29, a slewing bearing 30, a flange 31, a reducer 32, a drum servo motor 33, a rope-laying servo motor 34, a worm gear frame 35, a worm gear 36, a rope arranger 37, a coupling 38, a first guide wire 39, a second guide wire 40, a third guide wire 41, a miniature hyperspectral imager 42, and an acrylic plate 43. The drum servo motor 33 and the reducer 32 are bolted together and driven by a key. The output shaft of the reducer 32 is screwed to the bottom of the flange 31. The upper end of the flange 31 is bolted to the bottom of the slewing bearing 30, and the upper end of the slewing bearing 30 is bolted to the bottom of the drum 28. A bearing 27 is coaxially mounted on the inner step of the upper end of the drum 28. A drum cover 26 is located on the upper end of the bearing 27 and is bolted to the top of the drum 28. A drum support 29 is nested at the motorless end of the top of the drum 28. The drum servo motor 33 and the reducer 32 are both bolted to the drum support 29. The drum support 29 is tightly attached to the inner wall of the storage / retrieval housing 25 and fixed with bolts. A worm gear 36 is fixed in a worm gear frame 35. The threads on the worm gear 36 engage with a rope guide. The rope guide 37 is located in a vertical groove of the worm gear frame 35. The worm gear frame 35 is tightly attached to the inner wall of the storage / retrieval housing 25 and fixed with bolts. The bottom and top of the coupling 38 are screwed to the top of the worm gear 36 and the bottom of the rope guide servo motor 34, respectively. The rope guide servo motor 34 is bolted to the storage / retrieval housing. The inner wall of the upper outer shell 24 is reinforced with an acrylic plate 43, which is bolted to the outer side of the storage and take-up upper outer shell 24, and a sealing ring is provided at the connection. The storage and take-up upper outer shell 24 and the storage and take-up lower outer shell 25 are fixed together by several bolts facing the central axis. The first guide wire 39 is bolted to the top of the drum support 29, and the miniature hyperspectral imager 42 is bolted to the top of the first guide wire 39. The second guide wire 40 is bolted to the top of the rope-laying servo motor 34, and the third guide wire 41 is bolted to the top of the second guide wire 40. The miniature hyperspectral imager 42, the drum servo motor 33, and the rope-laying servo motor 34 are all connected to the control system 3. The miniature hyperspectral imager 42 can transmit the collected data to the control system 3 in real time. The control system 3 controls the operation of the drum servo motor 33 and the rope-laying servo motor 34 according to the transmitted data. During operation, the drum servo motor 33 drives the reducer 32 and the drum 28 to rotate to realize the winding and unwinding of the cable. At the same time, the rope-laying servo motor 34 drives the worm gear 36 to rotate through the coupling 38, so that the rope layer 37 moves up and down in the worm gear frame 35. Together with the three guide wires and the cable tube 15, the cable moves along a fixed path in the drill bit. During the retrieval and release process, the cable is evenly arranged on the drum 28 and can be stored tightly and firmly. During the entire drilling process, the micro hyperspectral imager 42 can be controlled to scan the ice layer through the transparent acrylic plate 43 to obtain the density of the ice and the vertical distribution information of the bubble content, and transmit it to the control system 3 in real time.
[0058] The telescopic system 5 includes a telescopic system outer shell 44, a telescopic system inner cylinder 45, a miniature water quality sensor array 46, a telescopic electric push rod 47, a second pull rope displacement sensor 48, and a third wire drum 49. The telescopic electric push rod 47 and the miniature water quality sensor array 46 are respectively bolted to both sides of the bottom step of the telescopic system outer shell 44. The third wire drum 49 is bolted to the side wall of the telescopic system inner cylinder 45. The second pull rope displacement sensor 48 is bolted to the side wall of the telescopic electric push rod 47, and the rope end of the second pull rope displacement sensor 48 is tied to the top of the telescopic system inner cylinder 45. The telescopic system outer shell 44 and the telescopic system inner cylinder 45 are coaxially nested, and a flat key is provided between the telescopic system outer shell 44 and the telescopic system inner cylinder 45 to prevent relative rotation. The top of the telescopic system inner cylinder 45 is bolted to the push head of the telescopic electric push rod 47, and the telescopic system inner cylinder 45 is nested within the storage and retraction outer shell. The body 25 is fixed by several bolts facing the central axis; the miniature water quality sensor array 46, the telescopic electric push rod 47, and the second pull rope displacement sensor 48 are all connected to the control system 3. The miniature water quality sensor array 46 and the second pull rope displacement sensor 48 can transmit the collected data to the control system 3 in real time. The control system 3 controls the operation of the telescopic electric push rod 47 according to the received data. By controlling the telescopic electric push rod 47 and cooperating with the upper steering and walking system 2 and the lower steering and walking system 6, the drill bit can move in the ice hole. The second pull rope displacement sensor 48 can monitor the push rod pushing distance. The third line drum 49 can ensure that the cable can be released normally when the telescopic electric push rod 47 is extended and that the cable is put into the third line drum 49 when it is retrieved to prevent cable damage. During the drilling process, the miniature water quality sensor array 46 can be controlled to analyze the soluble impurities and ionic components in the ice layer.
[0059] The forward drilling system 7 includes a forward thermal fusion drill bit 50, a lower resistance wire 51, a temperature sensor 52, a sampling tube 53, an adapter 54, a ball valve motor 55, a ball valve 56, a micro isotope detection device 57, a forward system housing 58, a forward system inner cylinder 59, a pressure sensor 60, a first wire drum 61, a second wire drum 62, a forward electric push rod 63, a first pull rope displacement sensor 64, and an inertial measurement unit 65. The lower resistance wire 51 is tightly wound around the inner wall of the forward thermal fusion drill bit 50 and fixed with bolts, used to heat the drill bit to achieve drilling. The bottom of adapter 54 is nested in the bottom of the inner cavity of the forward thermal fusion drill bit 50, and the top of adapter 54 is nested in the bottom of the forward system housing 58. Adapter 54 is fixed by several bolts facing the central axis. Sampling tube 53 passes through the bottom of adapter 54 and is nested in the bottom of the forward thermal fusion drill bit 50. The top of sampling tube 53 is screwed to ball valve 56. The torsion switch of ball valve 56 is screwed to the drive shaft of ball valve motor 55. The bottom of ball valve motor 55 is fixed to the inner wall of adapter 54 by bolts. During normal drilling, ball valve 56 is closed, and the ice core entering sampling tube 53 will be... The water melts and does not hinder drilling. Upon reaching the designated position, the ball valve 56 is opened, allowing the water vapor produced by melting and the gas trapped in the ice layer to enter the micro isotope detection device 57. This enables quantitative analysis of isotopes and gas components in the water. The micro isotope detection device 57 is screwed onto the top of the ball valve 56. The temperature sensor 52 is screwed into the inner cavity of the adapter 54. The bottom of the pressure sensor 60 is bolted to the bottom of the forward system housing 58. The top of the pressure sensor 60 is connected to the push head of the forward electric push rod 63 via flange 31. The first and second... The cable drums 62 are all fixed to the side wall of the inner cylinder 59 of the forward system by bolts. The first cable displacement sensor 64 is fixed to the side wall of the forward electric push rod 63 by bolts. The cable end of the first cable displacement sensor 64 is tied to the bottom of the outer shell 58 of the forward system. The forward electric push rod 63 is fixed to the top of the inner cylinder 59 of the forward system by bolts. The upper end of the inner cylinder 59 of the forward system is nested in the outer shell 16 of the travel system in the lower steering travel system 6 and fixed by several bolts facing the central axis. The bottom of the inner cylinder 59 of the forward system is coaxially nested into the outer shell 58 of the forward system.An inertial measurement unit 65 is bolted to the cavity between the inner cylinder 59 of the forward system and the outer casing 16 of the lower steering and walking system 6. The inertial measurement unit 65 monitors the drill bit's movement direction in real time. A temperature sensor 52 monitors the drill bit temperature during drilling, and a pressure sensor 60 monitors the drilling pressure. A wire drum prevents damage to the cable caused by the extension and retraction of the push rod. The lower resistance wire 51, temperature sensor 52, ball valve motor 55, micro isotope detection device 57, pressure sensor 60, forward electric push rod 63, first pull rope displacement sensor 64, and inertial measurement unit 65 are all connected to the control system 3. These components transmit the collected data to the control system 3 in real time. The control system 3 then controls the operation of the lower resistance wire 51, ball valve motor 55, and forward electric push rod 63 based on the transmitted data.
[0060] The control system 3 includes a control system housing 23, a signal receiver / processor 66, a signal output device 67, and a cable conduit 15. The top of the cable conduit 15 passes through the upper steering and walking system 2 and is screwed to the inner sealing chamber 12 of the reversing drilling system 1. The cable conduit 15 is sealed with a lip seal ring 14. The signal receiver / processor 66 and the signal output device 67 are connected and are both fixed to the inner cavity of the control system housing 23 by bolts. The signal receiver / processor 66 can transmit the received data to the signal output device 67 in real time. The signal output device 67 issues control commands based on the data transmitted by the signal receiver / processor 66. The signal receiver / processor 66 is connected to the scanning sonar 11, the miniature hyperspectral imager 42, the miniature water quality sensor array 46, the second pull rope displacement sensor 48, the temperature sensor 52, the miniature isotope detection device 57, the pressure sensor 60, and the first pull rope displacement sensor 64. Connected to the inertial measurement unit 65, the scanning sonar 11, miniature hyperspectral imager 42, miniature water quality sensor array 46, second rope displacement sensor 48, temperature sensor 52, miniature isotope detection device 57, pressure sensor 60, first rope displacement sensor 64, and inertial measurement unit 65 can transmit the collected data to the signal receiving processor 66 in real time. The signal output device 67 is connected to the upper resistance wire 9, drum motor 21, support electric push rod 22, drum servo motor 33, rope servo motor 34, telescopic electric push rod 47, lower resistance wire 51, ball valve motor 55, and forward electric push rod 63, respectively. The signal output device 67 controls the operation of the upper resistance wire 9, drum motor 21, support electric push rod 22, drum servo motor 33, rope servo motor 34, telescopic electric push rod 47, lower resistance wire 51, ball valve motor 55, and forward electric push rod 63 according to the data transmitted by the signal receiving processor 66.
[0061] The aforementioned signal receiver processor 66, signal output device 67, scanning sonar 11, miniature hyperspectral imager 42, miniature water quality sensor array 46, second rope displacement sensor 48, temperature sensor 52, miniature isotope detection device 57, pressure sensor 60, first rope displacement sensor 64, inertial measurement unit 65, upper resistance wire 9, drum motor 21, support electric push rod 22, drum servo motor 33, rope laying servo motor 34, telescopic electric push rod 47, lower resistance wire 51, ball valve motor 55, and forward electric push rod 63 are all assemblies of existing equipment; therefore, their specific models and specifications are not detailed here.
[0062] Working principle of the invention:
[0063] When the self-propelled ice exploration robot provided by this invention moves forward within the ice layer, the upper and lower steering walking system extends the drum motor 21 to anchor the drill bit inside the ice hole. Subsequently, the forward electric push rod 63 pushes out the forward hot-melt drill bit 50, and the lower resistance wire 51 is controlled to heat the drill bit, causing it to melt the ice and drill deeper. Simultaneously, the drum servo motor 33 and the rope-laying servo motor 34 of the cable storage and retraction system 4 operate simultaneously, releasing the cable along multiple rope layers 37 and cable conduits 15 from the top of the retracting hot-melt drill bit 8 outside the drill bit. After the forward electric push rod 63 is fully extended, it can directly drive the drum motor 21 to rotate and retract the forward electric push rod 63, allowing the drill bit to move along the ice hole. Repeating the above process allows for continuous drilling. When it is necessary to retrieve the drill bit, the drum motor 21 in the lower steering walking system 6 extends to anchor the drill bit inside the ice hole. Subsequently, the telescopic electric push rod 47 in the telescopic system 5 pushes the drill bit upward, providing drilling pressure and controlling the upper resistance wire 9 to heat the drill bit. After the telescopic electric push rod 47 is fully extended, all the drum motors 21 in the upper steering and travel system 2 are supported on the borehole wall, the lower steering and travel system 6 is retracted, and the push rod of the telescopic system 5 is retracted. This process is repeated to achieve a creeping return. Furthermore, the rotation of the drum motors 21 in the lower steering and travel system 6 can be controlled to provide drilling pressure for the cable retraction via the drive drum 28, thus enabling drill bit retrieval. This system allows for successful drill bit retrieval whether in water or ice.
[0064] When the robot needs to turn, based on the positioning of the inertial measurement unit 65, the roller motor 21 on the same side as the turning direction in the upper steering system 2 is extended, and at the same time, the roller motor 21 on the opposite side of the turning direction in the lower steering system 6 is extended. This causes the drill bit to tilt at a certain angle within the ice hole, thus achieving turning.
[0065] Once the drill bit reaches the predetermined depth, the control system 3 drives the ball valve motor 55 to open the ball valve 56, allowing meltwater from the ice layer and trapped gas from the drilling process to enter the micro isotope detection device 57 for quantitative analysis of isotopes and gas components in the water. A micro hyperspectral imager 42 deployed within the robot scans the ice layer, obtaining information on ice density and the vertical distribution of bubble content. A micro water quality sensor array 46 in the telescopic system 5 analyzes soluble impurities and ionic components in the ice layer. After the drill bit penetrates the ice layer to reach the subglacial lake, the scanning sonar 11 on the top of the robot scans the lakebed topography.
Claims
1. A self-propelled underwater exploration robot, characterized in that: It includes a retracting drilling system, an upward steering and travel system, a control system, a cable storage and retraction system, a telescopic system, a downward steering and travel system, and an forward drilling system. The aforementioned seven systems are arranged coaxially in sequence. The control system is connected to the retracting drilling system, the upward steering and travel system, the cable storage and retraction system, the telescopic system, the downward steering and travel system, and the forward drilling system. The control system controls the operation of the retracting drilling system, the upward steering and travel system, the cable storage and retraction system, the telescopic system, the downward steering and travel system, and the forward drilling system. The retracting drilling system, the upward steering and travel system, the control system, the cable storage and retraction system, the telescopic system, the downward steering and travel system, and the forward drilling system are all connected by bolts through their respective system housings and are sealed with sealing rings.
2. The self-propelled under-ice exploration robot according to claim 1, characterized in that... The described retraction drilling system includes a retraction thermomelting drill bit, an upper resistance wire, a retraction drilling system housing, a surveying sonar, a sealing chamber, a sealing cover, and a lip seal. The retraction thermomelting drill bit is screwed to the retraction drilling system housing. The upper resistance wire is tightly wound around the inner wall of the retraction thermomelting drill bit and fixed with bolts, used to heat the drill bit to achieve thermomelting drilling. Several surveying sonars are installed, equidistantly screwed to the side wall of the retraction drilling system housing. When the drill penetrates the ice layer and enters the sub-ice water layer, the surveying sonars scan the underwater topography. The top of the sealing cap is nested with the retracting hot melt drill bit, and the bottom of the sealing cap is screwed to the sealing chamber. The sealing chamber has a built-in lip seal ring that forms a dynamic seal with the cable in the cable pipe. The bottom of the sealing chamber is screwed to the cable pipe. The outer shell of the retracting drilling system is coaxially nested with the outer shell of the walking system in the upper steering walking system. They are fixed together by several bolts facing the axis and sealed with a sealing ring. The measuring sonar and the upper resistance wire are both connected to the control system. The measuring sonar can transmit the collected data to the control system in real time. The control system controls the heating of the upper resistance wire.
3. The self-propelled under-ice exploration robot according to claim 2, characterized in that... The upper and lower steering travel systems have the same structure. Both systems include a travel system housing, a slide base, transmission arms, vertical sliders, horizontal sliders, roller motors, and supporting electric push rods. The slide base is screwed to the bottom step of the travel system housing. The horizontal slider is mounted on the upper part of the slide base and can slide along the horizontal groove on the upper part of the slide base. The vertical slider is mounted on the lower part of the slide base and can slide along the vertical groove on the lower part of the slide base. The horizontal and vertical sliders are connected by two transmission arms via pins. There are four sets of horizontal and vertical sliders evenly arranged at 90 degrees. Each horizontal slider is bolted to two roller motors, and the bottom of each vertical slider is connected to a supporting electric push rod via a pin. The system consists of four adjacent electric push rods arranged at 90-degree angles. These four electric push rods are bolted to the inner wall steps of the walking system housing. The bottom of the walking system housing is nested with the control system housing, and the top of the walking system housing is nested with the retracting drilling system housing. The walking system housing is fixed by several bolts facing the central axis. The drum motor and the electric push rods are both connected to the control system and controlled by the control system. During operation, the electric push rods are controlled to push the vertical slider downwards in the vertical groove of the chute base. At the same time, the vertical slider drives the transmission arm to push the horizontal slider and the drum motor outwards along the horizontal groove in the chute base. This enables the drill to be anchored and steered in the ice hole. The drum motor enables crawling, and the telescopic system completes the peristaltic motion.
4. The self-propelled under-ice exploration robot according to claim 1, characterized in that... The cable storage and winding system includes an upper storage and winding housing, a lower storage and winding housing, a drum cover, bearings, a drum, a drum support, a slewing bearing, a flange, a reducer, a drum servo motor, a rope-guiding servo motor, a worm gear frame, a worm, a rope guide, a coupling, a first guide wire, a second guide wire, a third guide wire, a miniature hyperspectral imager, and an acrylic plate. The drum servo motor and reducer are bolted together and driven by a key. The reducer output shaft is bolted to the bottom of the flange. The upper end of the flange is bolted to the bottom of the slewing bearing. The upper end of the slewing bearing is bolted to the bottom of the drum. A bearing is coaxially mounted on the inner step of the upper end of the drum. The bearing has a drum cover at the upper end, which is bolted to the top of the drum. The top end of the drum without a motor is nested into a drum support. The drum servo motor and reducer are both bolted to the drum support. The drum support is tightly attached to the inner wall of the storage and take-up outer casing and is fixed with bolts. The worm gear is fixed in the worm gear holder, and the thread on the worm gear mates with the rope guide. The rope guide is located in the vertical groove of the worm gear holder. The worm gear holder is tightly attached to the inner wall of the storage and take-up outer casing and is fixed with bolts. The bottom and top of the coupling are bolted to the top of the worm gear and the bottom of the rope guide servo motor, respectively. The rope guide servo motor is fixed to the inner wall of the storage and take-up upper outer casing with bolts. The acrylic plate is fixed with bolts. A sealing ring is installed on the outside of the storage and take-up outer shell, and at the connection point; the upper and lower storage and take-up outer shells are fixed together by several bolts facing the central axis; the first guide wire is fixed to the top of the drum support by bolts, and the miniature hyperspectral imager is fixed to the top of the first guide wire by bolts; the second guide wire is fixed to the top of the rope-laying servo motor by bolts, and the third guide wire is fixed to the top of the second guide wire by bolts. The miniature hyperspectral imager, the drum servo motor, and the rope-laying servo motor are all connected to the control system. The miniature hyperspectral imager can transmit the collected data to the control system in real time, and the control system controls the winding based on the transmitted data. The operation of the drum servo motor and the rope-laying servo motor: During operation, the drum servo motor drives the reducer and the drum to rotate, realizing the winding and unwinding of the cable. At the same time, the rope-laying servo motor drives the worm gear to rotate through the coupling, causing the rope layer to move up and down within the worm gear frame. Together with three guide wires and cable tubes, the cable moves along a fixed path within the drill bit. During the retrieval and release process, the cable is evenly arranged on the drum and can be stored tightly and securely. Throughout the drilling process, the miniature hyperspectral imager can be controlled to scan the ice layer through a transparent acrylic plate to obtain information on the density of the ice and the vertical distribution of the bubble content, and transmit it to the control system in real time.
5. A self-propelled under-ice exploration robot according to claim 1, characterized in that... The telescopic system includes a telescopic system outer shell, a telescopic system inner cylinder, a miniature water quality sensor array, a telescopic electric push rod, a second pull rope displacement sensor, and a third wire drum. The telescopic electric push rod and the miniature water quality sensor array are respectively fixed to the two sides of the bottom step of the telescopic system outer shell by bolts. The third wire drum is fixed to the side wall of the telescopic system inner cylinder by bolts. The second pull rope displacement sensor is fixed to the side wall of the telescopic electric push rod by bolts, and the rope end of the second pull rope displacement sensor is tied to the top of the telescopic system inner cylinder. The telescopic system outer shell and the telescopic system inner cylinder are coaxially nested, and a flat key is set between the outer shell and the inner cylinder to prevent relative rotation. The top of the inner cylinder is bolted to the push head of the telescopic electric push rod, and the inner cylinder is nested into the storage and retraction outer shell and fixed by several bolts facing the central axis. The micro water quality sensor array, the telescopic electric push rod, and the second pull rope displacement sensor are all connected to the control system. The micro water quality sensor array and the second pull rope displacement sensor can transmit the collected data to the control system in real time. The control system controls the operation of the telescopic electric push rod according to the received data. By controlling the telescopic electric push rod and cooperating with the upper and lower steering travel systems, the drill bit can move in the ice hole. The second pull rope displacement sensor can monitor the push rod pushing distance. A third cable drum is provided to ensure that the cable can be released normally when the telescopic electric push rod is extended and is retracted into the third cable drum during retrieval to prevent cable damage. During drilling, the micro water quality sensor array can be controlled to analyze soluble impurities and ionic components in the ice layer.
6. A self-propelled under-ice exploration robot according to claim 1, characterized in that... The aforementioned forward drilling system includes a forward thermal fusion drill bit, a lower resistance wire, a temperature sensor, a sampling tube, an adapter, a ball valve motor, a ball valve, a micro isotope detection device, a forward system housing, a forward system inner cylinder, a pressure sensor, a first wire drum, a second wire drum, a forward electric push rod, a first pull rope displacement sensor, and an inertial measurement unit. The lower resistance wire is tightly wound around the inner wall of the forward thermal fusion drill bit and fixed with bolts, used to heat the drill bit for drilling. The bottom of the adapter is nested in the bottom of the forward thermal fusion drill bit's inner cavity, and the top of the adapter is nested in the bottom of the forward system housing. The adapter is fixed by several bolts facing the central axis. The sampling tube passes through the bottom of the adapter and is nested in the forward thermal fusion drill bit. The bottom of the drill bit and the top of the sampling tube are screwed to a ball valve. The torsion switch of the ball valve is screwed to the drive shaft of the ball valve motor. The bottom of the ball valve motor is fixed to the inner wall of the adapter with bolts. During normal drilling, the ball valve is closed, and the ice core entering the sampling tube will melt into water, which will not hinder drilling. When the designated position is reached, the ball valve is opened, and the water vapor generated by melting and the gas sealed in the ice layer will enter the micro isotope detection device to complete the quantitative analysis of isotopes and gas components in the water. The micro isotope detection device is screwed to the top of the ball valve. The temperature sensor is screwed into the inner cavity of the adapter. The bottom of the pressure sensor is bolted to the bottom of the forward system housing, and the top of the pressure sensor is connected to the forward system housing via a flange. The pusher head of the electric push rod is connected, and both the first and second wire drums are bolted to the side wall of the inner cylinder of the forward system. The first pull-rope displacement sensor is bolted to the side wall of the forward electric push rod, and the rope end of the first pull-rope displacement sensor is tied to the bottom of the outer shell of the forward system. The forward electric push rod is bolted to the top of the inner cylinder of the forward system. The upper end of the inner cylinder of the forward system is nested in the outer shell of the travel system in the lower steering travel system and fixed by several bolts facing the central axis. The bottom of the inner cylinder of the forward system is coaxially nested into the outer shell of the forward system. An inertial measurement unit is bolted to the cavity between the inner cylinder of the forward system and the outer shell of the travel system in the lower steering travel system. The unit can monitor the drill bit's movement direction in real time. The temperature sensor is used to monitor the drill bit temperature during drilling, and the pressure sensor is used to monitor the drilling pressure during drilling. The wire drum is used to prevent the extension and retraction of the push rod from damaging the cable. The lower resistance wire, temperature sensor, ball valve motor, micro isotope detection device, pressure sensor, forward electric push rod, first pull rope displacement sensor, and inertial measurement unit are all connected to the control system. The temperature sensor, micro isotope detection device, pressure sensor, first pull rope displacement sensor, and inertial measurement unit can transmit the collected data to the control system in real time. The control system controls the operation of the lower resistance wire, ball valve motor, and forward electric push rod according to the transmitted data.
7. A self-propelled underwater exploration robot according to claim 1, 2, 3, 4, 5, or 6, characterized in that... The control system includes a control system housing, a signal receiver processor, a signal output device, and a cable conduit. The top of the cable conduit passes through the upper steering and walking system and is screwed to the sealed chamber inside the rearward drilling system. A lip seal ring is fitted over the cable conduit for sealing. The signal receiver processor and signal output device are connected and bolted to the inner cavity of the control system housing. The signal receiver processor transmits received data to the signal output device in real time. The signal output device issues control commands based on the transmitted data. The signal receiver processor is connected to a scanning sonar, a miniature hyperspectral imager, a miniature water quality sensor array, a second pull-rope displacement sensor, a temperature sensor, a miniature isotope detection device, a pressure sensor, and a first pull-rope... The rope displacement sensor and inertial measurement unit are connected. The scanning sonar, miniature hyperspectral imager, miniature water quality sensor array, second rope displacement sensor, temperature sensor, miniature isotope detection device, pressure sensor, first rope displacement sensor and inertial measurement unit can transmit the collected data to the signal receiving processor in real time. The signal output device is connected to the upper resistance wire, drum motor, support electric push rod, drum servo motor, rope servo motor, telescopic electric push rod, lower resistance wire, ball valve motor and forward electric push rod respectively. The signal output device controls the operation of the upper resistance wire, drum motor, support electric push rod, drum servo motor, rope servo motor, telescopic electric push rod, lower resistance wire, ball valve motor and forward electric push rod according to the data transmitted by the signal receiving processor.