Controllable depth penetration device and method
By using a penetration device with controllable depth, combined with a deep-buried module, an explosive installation module, a gas compression module, and a depth detection module, the problem of uncontrollable blasting depth in asteroid defense systems has been solved, achieving the best explosion effect on small celestial bodies.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI SATELLITE ENG INST
- Filing Date
- 2026-04-09
- Publication Date
- 2026-06-30
AI Technical Summary
Existing asteroid defense systems cannot control the blast depth, resulting in uncontrollable explosion effects and an inability to achieve optimal velocity deflection.
The device employs a controllable depth penetration mechanism, which includes a deep burial module, an explosive installation module, a gas compression module, a depth detection module, and a management module. The management module records acceleration data and depth detection data to control the explosion depth of the explosive inside the small celestial body.
This technology enables controllable detonation depth of explosives inside small celestial bodies, improving the reliability of the explosion effect and the feasibility of achieving the best effect, and reducing the error between the penetration depth and the expected depth.
Smart Images
Figure CN122305861A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of spacecraft, and more specifically, to a penetration device and method with controllable depth. Background Technology
[0002] Most defense methods against asteroids threaten Earth involve altering their speed, magnitude, and direction to deflect them from their impact trajectory, thus protecting Earth. One method is to embed explosives within the asteroid; these explosives detonate, ejecting surface material and gaining momentum to change the asteroid's speed and direction.
[0003] A Chinese patent with publication number CN117657471A discloses an asteroid defense system, method, and device based on micro-nano survivable satellites. The system includes multiple micro-nano survivable satellites: a companion scientific exploration satellite, a surface-movable scientific exploration satellite, a high-speed impact penetration blasting satellite, a surface attachment assessment satellite, and a sample return micro-nano satellite. The companion scientific exploration satellite accompanies the asteroid and transmits data, the surface-movable scientific exploration satellite detects and places beacons, the high-speed impact penetration blasting satellite impacts and penetrates the asteroid before exploding inside, and the sample return micro-nano satellite samples the asteroid's spherical soil and returns it to Earth orbit.
[0004] However, experience with explosion effects shows that for the same explosive equivalent, above the optimal blast depth, the velocity increase from the blast depth is greater, while below the optimal blast depth, the opposite is true. Asteroid defense systems, methods, and devices based on micro / nano survivable satellites cannot control the blast depth, and therefore cannot control the explosion effect. Summary of the Invention
[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a penetration device and method with controllable depth.
[0006] According to the present invention, a controllable depth penetration device includes: a deep burial module, an explosive installation module, a gas compression module, a depth detection module, and a management module;
[0007] The deep-buried module is located at the head of the penetration device, and the deep-buried module has multiple explosion depth scales arranged from bottom to top inside the module. The explosive loading module is installed at the end inside the deep-buried module; The gas compression module is installed above the explosive installation module and is used to provide the explosive installation module with the power to move downward within the deep-buried module; The depth detection module is mounted on the management module and is used to detect the distance between the penetration device and the surface of the object to be penetrated, thereby obtaining height data. The management module is installed above the gas extrusion module and located at the tail of the penetration device; the management module is electrically connected to the deep burial module, the explosive installation module, the gas extrusion module, and the depth detection module respectively; The management module obtains the optimal depth data based on the acceleration data of the penetration device, obtains the actual depth of the scale based on the height data detected by the depth detection module, and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale. After the management module obtains the final explosion depth scale, the management module controls the deep burial module to limit the position at the final explosion depth scale, controls the explosive installation module to disconnect from the deep burial module, controls the gas extrusion module to drive the explosive installation module to move to the final explosion depth scale inside the deep burial module, and controls the explosive installation module to detonate at the final explosion depth scale.
[0008] Preferably, the deep-buried module includes a body sub-module, a depth division sub-module, and a heating sub-module; The depth division submodule includes multiple shape memory alloy limiting pins, and the heating submodule includes multiple heaters; the multiple shape memory alloy limiting pins are respectively installed at multiple explosion depth scales on the inner surface of the main body submodule, and the multiple heaters are respectively installed on the surface of the multiple shape memory alloy limiting pins. The heating submodule is electrically connected to the management module. The management module controls the heater at the final explosion depth scale to heat the corresponding shape memory alloy limit pin. When the shape memory alloy limit pin is heated to a preset temperature, it opens more than 100° and acts as a limit to prevent the explosive installation module from continuing to move downward at the final explosion depth scale. The other heaters in the heating submodule are not working, and the shape memory alloy limiting pins corresponding to the non-working heaters are attached to the inner surface of the main body submodule and do not play a limiting role.
[0009] Preferably, the explosive installation module includes an explosive sub-module, an outer casing sub-module, and a wireless fuse sub-module; The outer casing submodule is installed at the end inside the deeply buried module; the explosive submodule and the wireless fuse submodule are installed inside the outer casing submodule; The wireless fuse submodule is electrically connected to the management module. When the wireless fuse submodule receives an explosion signal from the management module, it controls the explosive submodule to detonate.
[0010] Preferably, the wireless fuze submodule includes a wireless receiving unit, a battery, and a fuze; The wireless receiving unit is used to receive the explosion signal sent by the management module; The battery is used to power the wireless fuze submodule; The fuse is used to drive the explosive submodule to detonate based on the explosion signal received by the wireless receiving unit.
[0011] Preferably, the inner surface of the buried module is provided with a centrally symmetrical protrusion, and the outer surface of the outer shell sub-module is provided with a centrally symmetrical through groove, wherein the protrusion and the through groove cooperate with each other.
[0012] Preferably, the explosive installation module is installed at the end inside the deeply buried module using explosive bolts; The management module disconnects the explosive installation module from the deep burial module by controlling the explosive bolts to disconnect.
[0013] Preferably, the gas extrusion module includes a first material, a second material, a separator, and a film shell; The first material and the second material are installed inside the film housing, separated by the separator. When the management module controls the separator to release the separation, the first material and the second material mix to generate gas, and the gas fills the film shell, which then extends downwards as a long rod.
[0014] Preferably, the depth detection module includes a laser rangefinder and a buffer pad; The laser rangefinder is used to detect the distance between the penetration device and the surface of the object to be penetrated, and to obtain height data; The laser rangefinder is mounted on the management module via the buffer pad.
[0015] Preferably, the management module includes a load submodule, an intelligent decision-making submodule, an autonomous management submodule, and a conical outer shell; The load submodule, intelligent decision-making submodule, and autonomous management submodule are installed inside the conical shell. The load submodule employs an acceleration sensor to record the acceleration data of the penetration device during the penetration process; The intelligent decision-making submodule obtains the optimal depth data based on the acceleration data of the penetration device, obtains the actual depth of the scale based on the height data detected by the depth detection module, and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale. The autonomous management submodule is used to control the depth detection module to obtain height data, control the deep burial module to limit the final explosion depth scale, control the explosive installation module to disconnect from the deep burial module, control the gas extrusion module to drive the explosive installation module to move to the final explosion depth scale inside the deep burial module, and control the explosive installation module to detonate at the final explosion depth scale.
[0016] The present invention also provides a method for controlling depth penetration, comprising the controllable depth penetration apparatus described in any one of the above-mentioned methods, including: The penetration device separated from the detector; The penetration device penetrates into the object being penetrated, and the management module records the acceleration data during the penetration process; After penetration is completed, the management module controls the depth detection module to detect the distance between the penetration device and the surface of the object being penetrated, and obtains height data; The management module obtains the optimal depth data based on the acceleration data of the penetration device, obtains the actual depth of the scale based on the height data detected by the depth detection module, and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale. The management module controls the deep-buried module to limit its position at the final explosion depth scale. The management module controls the disconnection between the explosive installation module and the deep burial module; The management module controls the gas extrusion module to drive the explosive installation module to move to the final explosion depth mark inside the deep-buried module; The management module controls the explosive installation module to detonate at the final explosion depth mark.
[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention achieves controllable detonation point depth of explosives inside small celestial bodies by combining a deep burial module, an explosive installation module, a gas extrusion module, a depth detection module, and a management module, thereby enabling the small celestial bodies to obtain the optimal explosion deflection effect. The method of penetrating first and then controlling the explosive depth has the function of adjustable explosion depth, which is more feasible than the traditional celestial penetration scheme, which may have a large error in the penetration depth when the material is unknown. Furthermore, the management module records acceleration data during the penetration process, providing practical data reference for obtaining the optimal depth and improving the credibility of the explosion effect. Attached Figure Description
[0018] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the penetration device with controllable depth, which is the main feature of this invention. Figure 2 This is a cross-sectional view of the penetration device with controllable depth, which is the main feature of this invention. Figure 3 This is a schematic diagram illustrating the structure of the deeply buried module, which is the main feature of this invention. Figure 4 This is a top view of the cross-sectional protrusion of the deeply buried module, which is the main feature of this invention. Figure 5 This is a cross-sectional structural diagram illustrating the explosive installation module of the present invention. Figure 6 This is a schematic diagram illustrating the overall structure of the explosives installation module, which is the main feature of this invention. Figure 7 This is a schematic diagram illustrating the structure of the gas extrusion module when it is not in operation. Figure 8 This is a schematic diagram illustrating the structure of the gas extrusion module during operation. Figure 9 This is a schematic diagram illustrating the structure of the depth detection module and the management module of the present invention. Figure 10 This is a schematic diagram illustrating the structure of the penetration device with controllable depth, which is the main feature of this invention, to complete the penetration process. Figure 11 This is a schematic diagram of the explosive installation module of the controllable depth penetration device of the present invention at the final explosion depth scale n0. Figure 12 This invention is mainly embodied in Figure 11 A schematic diagram of the local structure at the final explosion depth scale n0; Figure 13 This is a flowchart illustrating the controllable depth penetration method of the present invention.
[0019] The diagram shows: 1. Deep burial module; 11. Body sub-module; 12. Depth division sub-module; 13. Heating sub-module; 2. Explosive installation module; 21. Explosive sub-module; 22. Shell sub-module; 23. Wireless fuse sub-module; 24. Explosive bolt; 231. Wireless receiving unit; 232. Battery; 233. Fuze; 3. Gas extrusion module; 31. First material; 32. Second material; 33. Separator; 34. Membrane shell; 4. Depth detection module; 41. Laser rangefinder; 42. Buffer module; 5. Management module; 51. Load sub-module; 52. Intelligent decision-making sub-module; 53. Autonomous management sub-module; 111. Protrusion; 221. Through groove. Detailed Implementation
[0020] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.
[0021] like Figures 1 to 12 As shown, a controllable depth penetration device according to the present invention includes: a deep burial module 1, an explosive installation module 2, a gas compression module 3, a depth detection module 4, and a management module 5.
[0022] The deep-buried module 1 is located at the head of the penetrating device. Multiple explosion depth markings are arranged inside the deep-buried module 1 from bottom to top. These markings are located at different lengths within the deep-buried module 1. During the penetration process, the deep-buried module 1 penetrates into the interior of the target object. The deep-buried module 1 provides installation space for the pre-buried depth of the explosive; specifically, the target object is a small celestial body or asteroid.
[0023] The explosive installation module 2 is installed at the end inside the deep-buried module 1. After the explosive installation module 2 is disconnected from the deep-buried module 1, it can move downward inside the deep-buried module 1. It is limited at the final explosion depth scale among the multiple explosion depth scales inside the deep-buried module 1. The explosive installation module 2 moves to the final explosion depth scale at the limit point to install the explosive and detonate it at this point.
[0024] The gas compression module 3 is installed above the explosive installation module 2 and is used to provide the explosive installation module 2 with the power to move downward within the deep burial module 1, so that the explosive installation module 2 enters the final explosion depth scale position of the deep burial module 1.
[0025] The depth detection module 4 is mounted on the management module 5 and is used to detect the distance between the penetration device and the surface of the object to be penetrated, obtain height data, and provide input for the actual penetration depth calculation.
[0026] The management module 5 is installed above the gas extrusion module 3 and located at the tail of the penetration device. The management module 5 is electrically connected to the deep burial module 1, the explosive installation module 2, the gas extrusion module 3, and the depth detection module 4. The management module 5 obtains the final explosion depth scale and controls the deep burial module 1, the explosive installation module 2, the gas extrusion module 3, and the depth detection module 4 throughout the entire process.
[0027] The management module 5 obtains the optimal depth data based on the acceleration data of the penetrating device, obtains the actual depth of the scale based on the height data detected by the depth detection module 4, and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale.
[0028] After the management module 5 obtains the final explosion depth scale, the management module 5 controls the deep burial module 1 to limit the position at the final explosion depth scale, controls the explosive installation module 2 to disconnect from the deep burial module 1, controls the gas extrusion module 3 to drive the explosive installation module 2 to move to the final explosion depth scale inside the deep burial module 1, and controls the explosive installation module 2 to explode at the final explosion depth scale.
[0029] The penetration device separated from the detector.
[0030] The penetrating device penetrates into the object being penetrated, and the management module 5 records the acceleration data during the penetration process.
[0031] After penetration is completed, the management module 5 controls the depth detection module 4 to detect the distance between the penetration device and the surface of the object being penetrated, and obtains the height data.
[0032] The management module 5 obtains the optimal depth data based on the acceleration data of the penetrating device, obtains the actual depth of the scale based on the height data detected by the depth detection module 4, and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale.
[0033] The management module 5 controls the deep burial module 1 to set a limit at the final explosion depth scale.
[0034] The management module 5 controls the disconnect between the explosive installation module 2 and the deep burial module 1.
[0035] The management module 5 controls the gas compression module 3 to drive the explosive installation module 2 to move to the final explosion depth mark inside the deep burial module 1.
[0036] The management module 5 controls the explosive installation module 2 to detonate at the final explosion depth mark.
[0037] By combining the deep burial module 1, explosive installation module 2, gas compression module 3, depth detection module 4, and management module 5, the detonation point depth of the explosive inside the small celestial body can be controlled, enabling the small celestial body to obtain the optimal explosion deflection effect.
[0038] The method of penetrating first and then controlling the explosive depth has the function of adjustable explosion depth, which is more feasible than the traditional celestial penetration scheme, which may have a large error in the penetration depth when the material is unknown. Furthermore, the management module 5 records acceleration data during the penetration process, providing practical data reference for obtaining the optimal depth and improving the credibility of the explosion effect.
[0039] In one feasible implementation, the deep burial module 1 includes a body submodule 11, a depth division submodule 12, and a heating submodule 13.
[0040] The main body submodule 11 adopts a slender configuration with a bullet-shaped head, which can quickly penetrate into the interior of the target under high-speed impact.
[0041] The depth division submodule 12 includes multiple shape memory alloy limiting pins, and the heating submodule 13 includes multiple heaters. The multiple shape memory alloy limiting pins are respectively installed at multiple explosion depth scales on the inner surface of the main body submodule 11, and the multiple heaters are respectively installed on the surface of the multiple shape memory alloy limiting pins. The multiple heaters in the heating submodule 13 correspond one-to-one with the multiple shape memory alloy limiting pins in the depth division submodule 12. Each heater has the ability to individually control the corresponding shape memory alloy limiting pin, providing the required temperature for the deformation of the shape memory alloy limiting pin.
[0042] The heating submodule 13 is electrically connected to the management module 1. The management module 5 controls the heater at the final explosion depth scale to heat the corresponding shape memory alloy limit pin. When the shape memory alloy limit pin is heated to the preset temperature, it opens more than 45° and acts as a limit, preventing the explosive installation module 2 from continuing to move downward at the final explosion depth scale.
[0043] Other heaters in the heating submodule 13 are not working. The shape memory alloy limit pins corresponding to the non-working heaters are attached to the inner surface of the main body submodule 11 and do not play a limiting role.
[0044] In one feasible implementation, the explosive installation module 2 includes an explosive submodule 21, an outer casing submodule 22, and a wireless fuse submodule 23.
[0045] The outer casing submodule 22 is installed at the end inside the buried module 1. Specifically, the outer casing submodule 22 is installed at the non-bullet end inside the main body submodule 11 of the buried module 1; the explosive submodule 21 and the wireless fuse submodule 23 are installed inside the outer casing submodule 22.
[0046] The wireless fuse submodule 23 is electrically connected to the management module 5. When the wireless fuse submodule 23 receives an explosion signal from the management module 5, it controls the explosive submodule 21 to explode.
[0047] Specifically, the explosive submodule 21 uses inert explosives to ensure safety under normal conditions.
[0048] In one feasible implementation, the wireless fuse submodule 23 is wireless and has the capability to receive signals from the management module to control the detonation of the explosive. The wireless fuse submodule 23 includes a wireless receiver unit 231, a battery 232, and a fuse 233.
[0049] The wireless receiving unit 231 is used to receive the explosion signal emitted by the management module 5.
[0050] Battery 232 is used to power the wireless fuze submodule 23.
[0051] The fuse 233 is used to drive the explosive submodule 21 to detonate according to the explosion signal received by the wireless receiving unit 231.
[0052] In one feasible implementation, the inner surface of the buried module 1, i.e., the inner surface of the body sub-module 11, is provided with centrally symmetrical protrusions 111, and the outer surface of the outer shell sub-module 22 is provided with centrally symmetrical through grooves 221. The protrusions 111 and the through grooves 221 cooperate with each other, ensuring that the explosive mounting module 2 can slide axially up and down within the buried module 1.
[0053] In one feasible implementation, the explosive installation module 2 is installed at the end inside the deep-buried module 1 using explosive bolts 24.
[0054] After the penetration device completes the penetration process, the management module 5 controls the explosive bolt 24 to disconnect, thereby disconnecting the explosive installation module 2 from the deep burial module 1 and releasing the fixation of the explosive installation module 2.
[0055] In one feasible implementation, the gas extrusion module 3 includes a first material 31, a second material 32, a separator 33, and a film shell 34.
[0056] The first material 31 and the second material 32 are installed inside the membrane housing 34, separated by a separator 33.
[0057] The first material 31 and the second material 32 are materials that can rapidly generate gas when mixed.
[0058] When the management module 5 controls the separator 33 to release the separation, the first material 31 and the second material 32 mix to generate gas. The membrane shell 34 is made of a flexible membrane material with a certain degree of toughness. It is normally sealed and folded for installation. During operation, the internal gas fills the membrane shell 34, causing it to extend downwards as a long rod. The pressure generated by the gas generation acts on the explosive installation module 2 to provide power.
[0059] Specifically, the separator 33 is a thin metal film that is heated and melted. It is flexibly installed inside the film shell 34 to divide it into two parts. The first material 31 and the second material 32 are respectively installed in the two parts of the film shell 34. The two parts are connected after the separator 33 is heated and melted.
[0060] In one feasible implementation, the depth detection module 4 includes a laser rangefinder 41 and a buffer pad 42.
[0061] The laser rangefinder 41 is used to detect the distance between the penetrating device and the surface of the object to be penetrated, and to obtain height data, providing input for the calculation of penetration depth.
[0062] The laser rangefinder 41 is mounted on the management module 5 via a buffer pad 42.
[0063] In one feasible implementation, the management module 5 includes a load submodule 51, an intelligent decision-making submodule 52, an autonomous management submodule 53, and a conical shell 54. The management module 5 mainly acquires load data of the penetration process, intelligently determines the optimal explosion depth, and controls each module in the device throughout the process.
[0064] The payload submodule 51, intelligent decision-making submodule 52, and autonomous management submodule 53 are installed inside the conical shell 54.
[0065] The load submodule 51 uses an acceleration sensor to record the acceleration data of the penetration device during the penetration process.
[0066] The intelligent decision-making submodule 52 obtains the optimal depth data based on the acceleration data of the penetrating device, obtains the actual depth of the scale based on the height data detected by the depth detection module 4, and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale. The intelligent decision-making submodule 52 internally stores the acceleration overload database of celestial bodies of different materials and the corresponding optimal depth empirical model. It can compare the acceleration data recorded by the load submodule 51 with the acceleration overload database inside the intelligent decision-making submodule 52, and calculate the final explosion depth scale based on the optimal depth empirical model corresponding to the data with the highest similarity.
[0067] The autonomous management submodule 53 is used to control the depth detection module 4 to obtain height data, control the deep burial module 1 to limit the final explosion depth scale, control the explosive installation module 2 to disconnect from the deep burial module 1, control the gas extrusion module 3 to drive the explosive installation module 2 to move to the final explosion depth scale inside the deep burial module 1, and control the explosive installation module 2 to explode at the final explosion depth scale.
[0068] Specifically, the conical outer shell 54 increases the contact area and limits the penetration depth when the penetration process is too deep.
[0069] In one feasible implementation, the gap between the management module 5 and the buried module 1 is filled with buffer material to reduce the impact on the internal components during penetration.
[0070] like Figure 13 As shown, in one feasible implementation, the penetrating device is launched by a probe, penetrates into the interior of the asteroid, and detonates at a controlled depth within the asteroid, thereby altering the asteroid's velocity, direction, and size. The specific process includes: The penetration device separated from the detector.
[0071] The penetrating device penetrates into the interior of the small celestial body. The payload submodule 51 records the acceleration data during the penetration process and outputs it to the intelligent decision-making submodule 52.
[0072] After the penetration is completed, the autonomous management submodule 53 controls the laser rangefinder 41 to measure the distance from the ground and provides the height data X0 to the intelligent decision-making submodule 52.
[0073] The intelligent decision-making submodule 52 compares and analyzes the acceleration data with the internally stored database of acceleration overload of celestial bodies of different materials, and calculates the optimal depth data d0 based on the optimal depth empirical model with the highest similarity to the material. Based on the height data X0, it calculates the actual depth d at the bottom scale. max .
[0074] Let the depth scale of the explosion location be n, calculated from the bottom with values 1, 2, 3… The intelligent decision-making submodule 52 determines the difference between d0 and d… max The size relationship, if d0≥d max If d0 < d max Then calculate d n =|d0-a*(d max When -d0) / n| takes the minimum value, the value of scale n is n0, where a is the distance between adjacent scales. The depth at scale n0 is taken as the final explosion depth scale, and the scale result is transmitted to autonomous management module 53.
[0075] Process 6: Based on the results of the intelligent decision-making submodule 52, the autonomous management module 53 controls the heating submodule 13 to heat the depth division submodule 12 at n0, so that the shape memory alloy limiting pin in the depth division submodule 12 opens and plays a limiting role.
[0076] The autonomous management submodule 53 controls the explosive bolt 24 between the explosive installation module 2 and the deep burial module 1 to disconnect, thereby releasing the restriction on the explosive installation module 2.
[0077] The autonomous management submodule 53 controls the separator 33 to release the separation between material A and material B. Material A and material B mix to generate a large amount of gas that fills the thin film shell 34 and generates downward force on the explosive installation module 2, pushing it to the limit device at the n0 scale.
[0078] The autonomous management submodule 53 receives the detonation command from the detector and controls the wireless fuse module 23 to detonate the explosive via wireless transmission.
[0079] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0080] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.
Claims
1. A penetration device with controllable depth, characterized in that, include: The deep burial module (1), the explosive installation module (2), the gas extrusion module (3), the depth detection module (4), and the management module (5); The deep-buried module (1) is located at the head of the penetrating device, and the deep-buried module (1) has multiple explosion depth scales arranged from bottom to top inside; The explosive installation module (2) is installed at the end inside the deep-buried module (1); The gas extrusion module (3) is installed above the explosive installation module (2) to provide the explosive installation module (2) with the power to move downward within the deep-buried module (1); The depth detection module (4) is mounted on the management module (5) and is used to detect the distance between the penetration device and the surface of the object to be penetrated, and to obtain height data; The management module (5) is installed above the gas extrusion module (3) and located at the tail of the penetration device; the management module (5) is electrically connected to the deep burial module (1), the explosive installation module (2), the gas extrusion module (3), and the depth detection module (4) respectively; The management module (5) obtains the optimal depth data based on the acceleration data of the penetration device, obtains the actual depth of the scale based on the height data detected by the depth detection module (4), and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale. After the management module (5) obtains the final explosion depth scale, the management module (5) controls the deep burial module (1) to limit the position at the final explosion depth scale, controls the explosive installation module (2) to disconnect from the deep burial module (1), controls the gas extrusion module (3) to drive the explosive installation module (2) to move to the final explosion depth scale inside the deep burial module (1), and controls the explosive installation module (2) to explode at the final explosion depth scale.
2. The controllable depth penetration device as described in claim 1, characterized in that, The deep-buried module (1) includes a body sub-module (11), a depth division sub-module (12), and a heating sub-module (13). The depth division submodule (12) includes multiple shape memory alloy limiting pins, and the heating submodule (13) includes multiple heaters; the multiple shape memory alloy limiting pins are respectively installed at multiple explosion depth scales on the inner surface of the main body submodule (11), and the multiple heaters are respectively installed on the surface of the multiple shape memory alloy limiting pins. The heating submodule (13) is electrically connected to the management module (1). The management module (5) controls the heater at the final explosion depth scale to heat the corresponding memory alloy limit pin. The memory alloy limit pin, heated to the preset temperature, opens more than 45° to limit the movement and prevent the explosive installation module (2) from continuing to move downward at the final explosion depth scale. The other heaters in the heating submodule (13) are not working. The shape memory alloy limiting pins corresponding to the non-working heaters are attached to the inner surface of the main body submodule (11) and do not play a limiting role.
3. The controllable depth penetration device as described in claim 1, characterized in that, The explosive installation module (2) includes an explosive sub-module (21), an outer casing sub-module (22), and a wireless fuse sub-module (23). The outer casing submodule (22) is installed at the end inside the deep-buried module (1); the explosive submodule (21) and the wireless fuse submodule (23) are installed inside the outer casing submodule (22); The wireless fuse submodule (23) is electrically connected to the management module (5). When the wireless fuse submodule (23) receives an explosion signal from the management module (5), it controls the explosive submodule (21) to explode.
4. The controllable depth penetration device as described in claim 3, characterized in that, The wireless fuze submodule (23) includes a wireless receiver unit (231), a battery (232), and a fuze (233). The wireless receiving unit (231) is used to receive the explosion signal emitted by the management module (5); The battery (232) is used to supply power to the wireless fuze submodule (23); The fuse (233) is used to drive the explosive submodule (21) to detonate according to the explosion signal received by the wireless receiving unit (231).
5. The controllable depth penetration device as described in claim 3, characterized in that, The inner surface of the deep-buried module (1) is provided with a centrally symmetrical protrusion (111), and the outer surface of the outer shell sub-module (22) is provided with a centrally symmetrical through groove (221). The protrusion (111) and the through groove (221) cooperate with each other.
6. The controllable depth penetration device as described in claim 1, characterized in that, The explosive installation module (2) is installed at the end of the deep-buried module (1) using explosive bolts (24); The management module (5) disconnects the explosive installation module (2) from the deep burial module (1) by controlling the explosive bolt (24) to disconnect.
7. The controllable depth penetration device as described in claim 1, characterized in that, The gas extrusion module (3) includes a first material (31), a second material (32), a separator (33), and a film shell (34). The first material (31) and the second material (32) are installed inside the film shell (34) by means of the separator (33); When the management module (5) controls the separator (33) to release the separation, the first material (31) and the second material (32) mix to generate gas, and the gas fills the film shell (34), and the film shell (24) extends downward as a long rod.
8. The controllable depth penetration device as described in claim 1, characterized in that, The depth detection module (4) includes a laser rangefinder (41) and a buffer pad (42). The laser rangefinder (41) is used to detect the distance between the penetrating device and the surface of the penetrating object to obtain height data; The laser rangefinder (41) is mounted on the management module (5) via the buffer pad (42).
9. The controllable depth penetration device as described in claim 1, characterized in that, The management module (5) includes a load submodule (51), an intelligent decision-making submodule (52), an autonomous management submodule (53), and a conical shell (54). The payload submodule (51), intelligent decision-making submodule (52), and autonomous management submodule (53) are installed inside the conical shell (54); The load submodule (51) employs an acceleration sensor to record the acceleration data of the penetration device during the penetration process; The intelligent decision-making submodule (52) obtains the optimal depth data based on the acceleration data of the penetration device, obtains the actual depth of the scale based on the height data detected by the depth detection module (4), and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale. The autonomous management submodule (53) is used to control the depth detection module (4) to obtain height data, control the deep burial module (1) to limit the final explosion depth scale, control the explosive installation module (2) to disconnect from the deep burial module (1), control the gas extrusion module (3) to drive the explosive installation module (2) to move to the final explosion depth scale inside the deep burial module (1), and control the explosive installation module (2) to explode at the final explosion depth scale.
10. A method for controlling the depth of penetration, characterized in that, The penetration device with controllable depth according to any one of claims 1 to 9 comprises: The penetration device separated from the detector; The penetrating device penetrates into the object being penetrated, and the management module (5) records the acceleration data during the penetration process; After penetration is completed, the management module (5) controls the depth detection module (4) to detect the distance between the penetration device and the surface of the penetration object and obtain height data; The management module (5) obtains the optimal depth data based on the acceleration data of the penetration device, obtains the actual depth of the scale based on the height data detected by the depth detection module (4), and obtains the final explosion depth scale from multiple explosion depth scales based on the optimal depth data and the actual depth of the scale. The management module (5) controls the deep burial module (1) to limit the position at the final explosion depth scale; The management module (5) controls the disconnection between the explosive installation module (2) and the deep burial module (1); The management module (5) controls the gas extrusion module (3) to drive the explosive installation module (2) to move to the final explosion depth scale inside the deep burial module (1); The management module (5) controls the explosive installation module (2) to detonate at the final explosion depth scale.