Laser-assisted underwater progressive icebreaking device and method for thick ice layers

Abstract

This invention provides a laser-assisted underwater progressive icebreaking device and method for thick ice layers, specifically relating to the technical field of polar icebreaking. It includes a pontoon body, a lifting and rotating mechanism, an icebreaking actuator, a multi-stage anchoring mechanism, and a detection mechanism. The lifting and rotating mechanism includes a vertical feed component and a rotating component; the icebreaking actuator includes a laser component for irradiating and pre-treating the ice layer, and an ice-removing blade component for mechanically removing the pre-treated ice layer; two sets of anchoring components are respectively located on the pontoon body and the lifting plate. Through the alternating support and separation of the anchoring components, combined with the extension and retraction of the vertical feed component, the icebreaking device achieves a step-by-step climbing motion along the ice layer. Therefore, this invention, through multi-stage anchoring and step-by-step climbing, achieves continuous penetration of thick ice layers while reducing energy consumption and vibration through a collaborative operation mode of laser pre-treatment and mechanical cutting, providing a high-efficiency, low-disturbance, and reliable icebreaking solution for polar underwater equipment.

Description

Technical Field

[0001] This invention relates to the technical field of polar icebreaking, and more specifically, to a laser-assisted underwater progressive icebreaking device and method for thick ice layers. Background Technology

[0002] With the continuous development of polar resources and the increasing strategic importance of the Arctic shipping route, the survivability and operational safety of underwater equipment in ice-covered environments are receiving increasing attention. The physical barrier formed by polar ice caps not only hinders the emergency surfacing and mission recovery of underwater equipment, but also severely restricts its effective operating radius.

[0003] Currently, underwater icebreaking solutions mainly rely on mechanical impact, but its technological bottlenecks are becoming increasingly apparent. On the one hand, mechanical impact icebreaking is limited by the platform's propulsion power and structural strength, resulting in a very limited thickness of ice that can be broken. On the other hand, the transient impact loads generated by high-speed impacts can easily damage the equipment's shell and internal precision photoelectric sensors. Furthermore, the mechanical breaking process is accompanied by severe energy loss and strong vibration interference, making it difficult to meet the requirements of long-term, high-precision operations for underwater platforms. Therefore, developing a new type of underwater icebreaking device with high energy efficiency and low disturbance has become a crucial and urgent need to overcome the bottleneck of all-weather operation of polar equipment and ensure the success of deep-sea polar missions. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a laser-assisted underwater progressive icebreaking device for thick ice layers, solving the problem of difficulty in achieving efficient full-thickness penetration of thick ice in polar underwater environments.

[0005] On one hand, the present invention provides a laser-assisted underwater progressive icebreaking device for thick ice layers, comprising: pontoon body; The lifting and rotating mechanism includes a vertical feeding component and a rotating component. The vertical feeding component is mounted on the float body, and its driving end is used to drive the lifting plate to feed in the vertical direction. The rotating component includes a rotating plate rotatably mounted above the lifting plate, and a rotating drive component for driving the rotating plate to perform circumferential rotation. An ice-breaking actuator is mounted on the upper surface of the rotating disk and includes a laser assembly for irradiating and pretreating the ice layer, and an ice-removing blade assembly for mechanically removing the pretreated ice layer. A multi-stage anchoring mechanism, comprising at least two sets of anchoring components, the two sets of anchoring components being respectively located on the pontoon body and the lifting plate, wherein the ice-breaking device achieves a step-by-step climbing along the ice layer by alternating anchoring and separation of the anchoring components in conjunction with the extension and retraction of the vertical feed component; The testing organization is used to test the contact state between the ice-breaking device and the ice layer, the stroke limit of the vertical feed component, and the penetration state of the ice layer.

[0006] Preferably, the ice-breaking actuator further includes a vibration component mounted on the rotary disk, the vibration component being used to apply vibration to the ice layer after laser pretreatment and before de-icing operation to induce crack propagation.

[0007] Preferably, the de-icing blade assembly includes a large blade disc and a small blade disc that are driven to rotate independently. The large blade cutting area of ​​the large blade disc covers the central area of ​​the rotating disc, and the small blade cutting area of ​​the small blade disc covers the radial outer contour extending outward from the float body. The large blade cutting area and the small blade cutting area overlap radially to form an annular overlapping cutting area.

[0008] Preferably, the vertical feed assembly includes an electric cylinder, the cylinder body of which is located inside the float body, and its drive end extends upward and is connected to the lifting plate to drive the lifting plate to feed in the vertical direction; the rotary drive component includes a drive motor and a hollow turntable, the hollow turntable is mounted on the lifting plate, and the drive motor drives the rotary plate to rotate through the hollow turntable for speed reduction transmission.

[0009] Preferably, it further includes a photoelectric transmission mechanism, the photoelectric transmission mechanism comprising: A hollow shaft is coaxially inserted through the center of the hollow turntable, with its upper end connected to the rotating disk and its lower end extending into the body of the float, and arranged along the central axis of the float body. A photoelectric separator is coaxially disposed inside the hollow shaft. The inner cavity of the photoelectric separator forms a laser optical path transmission channel, and the annular gap between the photoelectric separator and the inner wall of the hollow shaft forms an electrical circuit transmission channel. A conductive slip ring is fitted onto the hollow shaft and is used for the transmission of power and control signals during rotation.

[0010] Preferably, the laser component includes: A fixed optical lens assembly is fixedly mounted on the rotating disk and is used to receive the laser beam input from the laser optical path transmission channel; A moving optical mirror assembly, which is horizontally movable and mounted on the rotating disk, is used to project a laser beam vertically upwards into the ice layer; A telescopic lens tube, the two ends of which are respectively connected to the fixed optical lens group and the moving optical lens group, the telescopic lens tube extends and retracts synchronously with the translation of the moving optical lens group to maintain a sealed optical path; A horizontal drive assembly for driving the moving optical lens group to move horizontally.

[0011] Preferably, the multi-stage anchoring mechanism includes: The primary anchoring assembly includes multiple primary anchor rods inclined upward on the top plate of the pontoon body, which are used to penetrate the ice layer to provide initial positioning when the ice-breaking device floats up and abuts against the ice layer. A secondary anchoring assembly, comprising a plurality of retractable secondary anchor claws located at the bottom end of the lifting plate; The three-stage anchoring assembly includes multiple retractable three-stage anchor claws mounted on the top plate of the pontoon body. The extension action of the three-stage anchor claws is used to push the first-stage anchor bolt, causing it to detach from the pontoon body.

[0012] Preferably, the multi-stage anchoring mechanism further includes a push-pull electromagnetic unit; Each of the secondary anchor claws is hinged to the bottom of the lifting plate, wherein a portion of the push-pull electromagnetic units are used to extend and retract the secondary anchor claws to swing around their hinge fulcrum, thereby enabling the secondary anchor claws to extend and anchor or retract to avoid obstacles. Each of the three-stage anchor claws is hinged to the top plate of the buoy body. Another part of the push-pull electromagnetic unit is used to drive the three-stage anchor claws to swing around their hinge fulcrum. When the three-stage anchor claws swing and extend, their side walls touch the corresponding first-stage anchor rods, causing the first-stage anchor rods to rotate around their bottom mounting pins to release the first-stage anchoring limit.

[0013] On the other hand, the present invention also provides a laser-assisted underwater progressive icebreaking method for thick ice layers, employing the aforementioned laser-assisted underwater progressive icebreaking device for thick ice layers, comprising the following steps: S1: The pontoon body carrying the ice-breaking device rises to the lower surface of the ice layer. The detection mechanism touches the ice and outputs a positioning signal. The anchoring component in the multi-stage anchoring mechanism, which is located on the pontoon body, extends and penetrates the ice layer to complete the initial fixation of the ice-breaking device. S2: The rotary drive unit drives the rotary disk to rotate continuously in the circumferential direction. The laser component rotates with the rotary disk and irradiates the ice layer upward to pre-treat the ice. After the pre-treatment is completed, the ice removal blade component starts to rotate and revolves with the rotary disk to cut and remove the pre-treated ice. Simultaneously, the vertical feed component extends to drive the lifting plate to feed upward, driving the ice breaking actuator to continuously act on the ice layer and complete the single-stroke ice breaking operation. S3: After the vertical feed component reaches its travel limit, the anchoring component on the lifting plate extends and anchors to the ice layer; the anchoring component on the pontoon body releases its constraint from the ice layer, and then the vertical feed component retracts and resets, and the pontoon body moves upward under the action of buoyancy; the anchoring state is switched, so that the anchoring component on the pontoon body extends and anchors again, and the anchoring component on the lifting plate retracts and releases its anchor, completing a single step climb; S4: Repeat S2 to S3. Through the alternating anchoring of the multi-stage anchoring mechanism and the reciprocating extension and retraction of the vertical feed component, the ice-breaking device can continuously break the ice along the ice layer in a step-by-step manner until the detection mechanism detects that the ice layer is completely penetrated and then stops.

[0014] Preferably, the anchoring components on the pontoon body include a primary anchoring component and a tertiary anchoring component, and the anchoring components on the lifting platform are secondary anchoring components; In step S3, when the vertical feed component feeds to the stroke limit, it is determined whether it is the first working cycle. If this is the first job cycle, execute in the following order: The secondary anchor claw of the secondary anchoring component extends out and anchors to the ice layer; The third-level anchor claw of the third-level anchoring assembly swings outward and extends, and its sidewall pushes the first-level anchor rod of the first-level anchoring assembly, causing the first-level anchor rod to flip and disengage around its bottom mounting pin. Then the third-level anchor claw of the third-level anchoring assembly swings inward to retract. The vertical feed assembly retracts and resets, and the float body moves upward under the action of buoyancy. The third-level anchor claw of the third-level anchoring component swings outward and extends and anchors to the ice layer, while the second-level anchor claw of the second-level anchoring component retracts, completing the first anchoring switch. If this is not the first job cycle, execute in the following order: The secondary anchor claw of the secondary anchoring component extends and anchors to the ice layer, and the tertiary anchor claw of the tertiary anchoring component retracts. The vertical feed assembly retracts and resets, and the float body moves upward under the action of buoyancy. The third-level anchor claw of the third-level anchoring component extends and anchors to the ice layer, and the second-level anchor claw of the second-level anchoring component retracts, completing this anchoring switch.

[0015] The intended technical effects of this invention are as follows: The laser-assisted underwater progressive icebreaking device for thick ice layers provided by this invention has at least two sets of anchoring components set on the float body and the lifting plate in a multi-stage anchoring mechanism. When the vertical feed component drives the lifting plate to complete a single stroke of ice breaking and feeds to the stroke limit fed by the detection mechanism, the anchoring component on the lifting plate side extends and anchors to the ice layer, the anchoring component on the float body side is released from constraint, the vertical feed component retracts and resets, and drives the float body to move upward under the action of buoyancy. After switching the anchoring state, it enters the next ice breaking stroke. Through the alternating support and separation of the anchoring components and the reciprocating extension and retraction of the vertical feed component, the icebreaking device can achieve continuous step-by-step climbing along the ice layer, thereby transforming the limited vertical feed stroke into an infinite continuous penetration capability for thick ice layers, breaking through the thickness bottleneck of traditional mechanical impact ice breaking. The icebreaking mechanism comprises a laser component and an ice-removing blade component. It replaces the traditional direct impact mode with a combined laser irradiation pretreatment and mechanical cutting operation. The laser component first irradiates the ice layer, inducing micro-cracks within the ice using the laser's thermal effect, significantly reducing the ice's structural strength. Subsequently, the ice-removing blade component removes the weakened ice with low-load mechanical cutting. Because the laser pretreatment has weakened the ice's mechanical strength, the cutting force required by the ice-removing blade component is far less than that of the traditional direct impact mode, avoiding the transient impact load caused by high-speed impacts and effectively protecting the underwater equipment's hull structure and internal precision sensors. By directionally irradiating the ice with laser energy in the form of photothermal radiation, energy utilization is concentrated and efficient. The ice-removing blade component only needs to apply low-speed cutting to the weakened ice, significantly reducing mechanical energy loss. The entire icebreaking process is completed gradually with low power consumption and low vibration, meeting the long-term, high-precision operation requirements of underwater platforms.

[0016] The laser-assisted underwater progressive icebreaking method for thick ice layers provided by the invention has the same beneficial effects as the icebreaking device described above compared to the prior art, and will not be repeated here. Attached Figure Description

[0017] Figure 1 This is a top view of a laser-assisted underwater progressive icebreaking device for thick ice layers, according to one embodiment of the present invention.

[0018] Figure 2 This is a three-dimensional structural diagram of an ice-breaking device in one embodiment of the present invention.

[0019] Figure 3 This is a three-dimensional structural diagram of the lifting and rotating mechanism in one embodiment of the present invention.

[0020] Figure 4 This is a front view of the lifting and rotating mechanism in one embodiment of the present invention.

[0021] Figure 5This is a schematic diagram of the large cutting area of ​​the large cutter head and the small cutting area of ​​the small cutter head in one embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of laser transmission in the laser optical path transmission channel and laser component in one embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of laser transmission in a laser component according to one embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the horizontal drive assembly installed on a rotating disk in one embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the installation of a multi-stage anchoring mechanism in one embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the installation of the primary anchoring component and the tertiary anchoring component on the top plate of the pontoon body in one embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the vertical feed component in its retracted and reset state in one embodiment of the present invention.

[0028] Figure 12 This is a schematic diagram of the vertical feed component moving to its travel limit state in one embodiment of the present invention.

[0029] Figure 13 This is a schematic diagram of the initial positioning state of the ice-breaking device in one embodiment of the present invention.

[0030] Figure 14 This is a schematic diagram of the vertical feed component moving to its stroke limit during the first working cycle of the ice-breaking device in one embodiment of the present invention.

[0031] Figure 15 This is a schematic diagram of the vertical feed component retracting and resetting in the first working cycle of the ice-breaking device in one embodiment of the present invention.

[0032] Figure 16 This is a schematic diagram of the vertical feed component moving to its stroke limit during a non-first-time operation cycle of the ice-breaking device in one embodiment of the present invention.

[0033] Figure 17 This is a flowchart illustrating the ice-breaking operation of an ice-breaking device in one embodiment of the present invention.

[0034] Figure 18 This is a timing diagram showing the coordinated operation of the laser assembly, de-icing blade assembly, and vibration assembly in one embodiment of the present invention.

[0035] Figure 19This is a timing diagram of the anchor bolt interaction of the primary anchoring component, the secondary anchoring component, and the tertiary anchoring component in one embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures: 1-Float body; 2-Lifting and rotating mechanism; 21-Vertical feed assembly; 22-Rotating assembly; 221-Rotating disk; 2210-Plane needle roller bearing; 222-Rotating drive component; 2221-Drive motor; 2222-Hollow turntable; 23-Lifting disk; 3-Icebreaking actuator; 31-Laser assembly; 311-Fixed optical lens group; 312-Moving optical lens group; 313-Telescopic lens tube; 314-Horizontal drive assembly; 3143-Second stepper motor; 3141-Gear and rack transmission mechanism; 3142-Connecting plate; 3 144-Linear track; 310-Fiber output connector; 320-Collimating lens assembly; 32-De-icing blade assembly; 321-Large cutter head; 322-Small cutter head; 33-Vibration assembly; 4-Multi-stage anchoring mechanism; 41-Primary anchoring assembly; 411-Primary anchor bolt; 42-Secondary anchoring assembly; 421-Secondary anchor claw; 43-Tertiary anchoring assembly; 431-Tertiary anchor claw; 44-Push-pull electromagnetic unit; 5-Detection mechanism; 6-Photoelectric transmission mechanism; 61-Hollow shaft; 62-Photoelectric separation tube; 63-Conductive slip ring; 7-Electrical control box. Detailed Implementation

[0037] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0038] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0039] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0040] See Figures 1 to 4 As shown, in one aspect, embodiments of the present invention provide a laser-assisted underwater progressive icebreaking device for thick ice layers, including a float body 1, a lifting and rotating mechanism 2, an icebreaking execution mechanism 3, a multi-stage anchoring mechanism 4, and a detection mechanism 5. The float body 1 provides buoyancy and serves as a mounting base; the lifting and rotating mechanism 2 includes a vertical feed component 21 and a rotating component 22. The vertical feed component 21 is mounted on the float body 1, and its drive end is used to drive the lifting plate 23 to feed vertically. The rotating component 22 includes a rotating plate 221 rotatably mounted above the lifting plate 23, and a rotating drive component 222 for driving the rotating plate 221 to perform circumferential rotational motion; the icebreaking execution mechanism 3 is mounted on the upper surface of the rotating plate 221 and includes components for ice breaking... The system includes a laser assembly 31 for irradiation pretreatment and an ice-removing blade assembly 32 for mechanically removing the pretreated ice layer; a multi-stage anchoring mechanism 4 including at least two sets of anchoring components, which are respectively located on the float body 1 and the lifting plate 23. Through the alternating anchoring and separation of the anchoring components, and in conjunction with the extension and retraction of the vertical feed assembly 21, the ice-breaking device can achieve step-by-step climbing along the ice layer; and a detection mechanism 5 for detecting the contact state between the ice-breaking device and the ice layer, the stroke limit of the vertical feed assembly 21, and the penetration state of the ice layer.

[0041] It should be noted that the detection mechanism 5 can be a position sensor, used to detect the contact state with the ice layer, the travel limit of the vertical feed component 21, and the penetration state of the ice layer. Specifically, the ice-breaking device floats to the lower surface of the ice layer under the buoyancy drive of the float body 1. After the position sensor confirms that it is in place by touching the ice, the anchoring component of the multi-stage anchoring mechanism 4, which is located on the float body 1, first penetrates the ice layer to complete the initial fixation. Then, the rotary drive component 222 drives the rotary disk 221 to drive the laser component 31 to irradiate the ice layer for pretreatment. The laser thermal effect generates micro-crack defects inside the ice body. Then, the de-icing blade component 32 applies low-load mechanical cutting to the weakened ice body.

[0042] During a single-stroke icebreaking process, the vertical feed assembly 21 synchronously drives the lifting plate 23 upwards, ensuring the icebreaking actuator 3 continuously acts on the newly formed ice surface. When the vertical feed assembly 21 reaches the stroke limit fed by the detection mechanism 5, the multi-stage anchoring mechanism 4, through the alternating support and separation of two sets of anchoring components, allows the pontoon body 1 to climb step-by-step along the ice layer under buoyancy, entering the next icebreaking cycle, until the detection mechanism 5 confirms that the ice layer is completely penetrated and then stops. The icebreaking device overcomes the shortcomings of traditional mechanical impact icebreaking in terms of penetration capability, safety, and operational efficiency in large-thickness areas by utilizing the concentrated energy of laser pretreatment, the low-load cutting of the de-icing blade, and the stroke of the step-climbing mechanism. It achieves high-efficiency, low-disturbance, and continuous penetration of large-thickness polar ice layers, providing a solution for emergency surfacing operations of polar underwater equipment. See [link / reference] Figure 11 This indicates that the vertical feed assembly 21 is not driving the lifting plate 23 to feed upwards. Figure 12 The vertical feed component 21 shown moves to the upper limit of its stroke, that is, at this time the vertical feed component 21 drives the lifting plate 23 to move upward in a single movement to the farthest distance relative to the float body 1.

[0043] In one embodiment of the present invention, the ice-breaking actuator 3 further includes a vibration assembly 33 mounted on a rotating disk 221, the vibration assembly 33 being used to apply vibration to the ice layer after laser pretreatment and before de-icing operation to induce crack propagation.

[0044] It should be noted that the excitation component 33 is an electromagnetic excitation impactor, and it is positioned on the rotating disk 221 near the laser component 31, following the laser pretreatment and preceding mechanical cutting in the ice-breaking operation sequence. After the laser component 31 irradiates the ice layer, a network of microcracks and defects has formed inside the ice body. However, at this time, the cracks have not yet fully expanded and connected, and the ice layer still retains a certain residual strength. If mechanical cutting is performed directly by the de-icing blade component 32, a large amount of energy will still be required. The excitation component 33 generates high-frequency impact vibration through electromagnetic drive and acts on the laser-pretreated ice body. It drives the microcracks to unstablely expand with a small amount of excitation energy, causing the crack network to connect with each other, significantly weakening the structural integrity and overall strength of the ice layer, and creating favorable conditions for the subsequent low-load cutting of the de-icing blade component 32. Thus, the laser component 31, the vibration component 33, and the de-icing blade component 32 form a progressive ice-breaking operation involving thermally induced microcracks, vibration-induced crack propagation, and low-load mechanical removal. This further reduces the cutting resistance and energy consumption of the de-icing blade component 32, reduces the disturbance of mechanical vibration to the shell and internal precision sensors, and makes the entire ice-breaking process more efficient and stable, thereby improving the operational reliability and long-term working capability of the ice-breaking device in underwater environments.

[0045] In one embodiment of the present invention, the de-icing blade assembly 32 includes a large blade disk 321 and a small blade disk 322 that are driven to rotate independently. The large blade cutting area of ​​the large blade disk 321 covers the central area of ​​the rotating disk 221, and the small blade cutting area of ​​the small blade disk 322 covers the radial outer contour extending outward from the float body 1. The large blade cutting area and the small blade cutting area overlap radially to form an annular overlapping cutting area.

[0046] Furthermore, the large cutter head 321 and the small cutter head 322 are each driven by an independent brushless motor, and the brushless motor drives the corresponding cutter head to rotate through a planetary gear reduction mechanism.

[0047] It should be noted that, see Figure 5 As shown, the diameter of the large blade cutting area of ​​the large blade disk 321 is A, and the diameter of the small blade cutting area of ​​the small blade disk 322 is a. The small blade cutting area covers the radial outer contour of the float body 1, ensuring that the diameter of the through hole broken by the ice-breaking device is greater than the maximum outer diameter of the float body 1. This allows the float body 1 to float smoothly along the broken channel, avoiding jamming or interference between the outer wall of the float body 1 and the ice hole wall. During the ice-breaking operation, the laser component 31 and the ice-removing blade component 32 rotate together with the rotating disk 221. The large blade disk 321 is responsible for removing the ice in the central area of ​​the rotating disk 221, while the small blade disk 322 is responsible for removing the ice in the outer edge area. The cutting areas of the two overlap radially to form a ring-shaped overlapping cutting area, ensuring that there are no cutting dead corners or residual ice ridges within the entire target ice-breaking section. The large blade disk 321 and the small blade disk 322 are driven by independent brushless motors via planetary gear reduction mechanisms. The speed and torque can be independently adjusted according to the ice strength and cutting resistance, achieving energy consumption control while ensuring cutting efficiency. Therefore, the ice removal blade assembly 32 achieves full-section coverage cutting with a double-blade layout, which not only meets the functional requirement that the ice breaking diameter is larger than the outer diameter of the float body 1, but also takes into account the balance between operating efficiency and energy consumption, and provides a channel size guarantee for the overall step-by-step climbing of the ice breaking device.

[0048] See Figure 3 and Figure 4 In one embodiment of the present invention, the vertical feed component 21 includes an electric cylinder, the cylinder body of which is disposed inside the float body 1, and its drive end extends upward and is connected to the lifting plate 23 to drive the lifting plate 23 to feed in the vertical direction; the rotary drive component 222 includes a drive motor 2221 and a hollow turntable 2222, the hollow turntable 2222 is mounted on the lifting plate 23, and the drive motor 2221 drives the rotary plate 221 to rotate through the hollow turntable 2222.

[0049] Furthermore, the rotating disk 221 and the lifting disk 23 are supported by a flat needle roller bearing 33. The drive motor 2221 is a stepper motor, and the output torque of the stepper motor is transmitted to the rotating disk 221 through the hollow turntable 2222, thereby driving the rotating disk 221 to rotate around its central axis, so as to realize the position adjustment and area coverage of the ice-breaking actuator 3 in the circumferential direction.

[0050] It should be noted that the vertical feed assembly 21 and the rotary drive component 222 together constitute the core drive unit of the lifting and rotating mechanism 2. The two work together to realize the composite motion of axial feed and circumferential rotation of the ice-breaking actuator 3, ensuring that the ice-breaking operation can continuously cover the entire target cross-section. The vertical feed assembly 21 uses an electric cylinder as the drive element. The cylinder body is fixed inside the float body 1, and its drive end extends upward and is directly connected to the lifting plate 23. The electric cylinder has the characteristics of high transmission accuracy, fast response speed, and large axial stiffness, which can provide a stable and controllable upward feed thrust for the ice-breaking actuator 3, so that the de-icing blade assembly 32 always maintains effective contact with the ice layer during the cutting process, while controlling the single feed amount to avoid tool damage or energy waste caused by overload cutting. The rotary drive component 222 uses a stepper motor as the drive motor 2221. The stepper motor transmits its output torque to the rotary disk 221 through the hollow turntable 2222. The hollow turntable 2222 has the dual functions of speed reduction and torque amplification as well as slewing bearing. On the one hand, the hollow turntable 2222 converts the high speed and low torque output of the stepper motor into a low speed and high torque slewing motion suitable for ice-breaking operations. On the other hand, the hollow turntable 2222 serves as the mounting base for the rotary disk 221, bearing the axial load and overturning moment generated during ice-breaking operations. A flat needle roller bearing 2210 is installed between the rotary disk 221 and the lifting plate 23. The flat needle roller bearing 2210 maintains a low coefficient of friction while bearing a large axial load, enabling the rotary disk 221 to rotate smoothly under load and avoiding sluggish rotation or overload of the drive motor 2221 due to excessive frictional resistance. The stepper motor, in conjunction with the reduction gear transmission of the hollow turntable 2222, enables precise adjustment of the rotation angle and speed of the rotary disk 221. This ensures that the scanning trajectory of the laser component 31 and the cutting path of the de-icing blade component 32 uniformly cover the entire target ice-breaking area, guaranteeing no omissions or repeated cutting within the ice-breaking section. This achieves decoupled control of axial feed and circumferential rotation in ice-breaking operations, ensuring operational accuracy while improving transmission efficiency and structural reliability. This provides a driving guarantee for the long-term stable operation of the entire ice-breaking device in an underwater environment.

[0051] See Figure 6As shown, in one embodiment of the present invention, a photoelectric transmission mechanism 6 is further included. The photoelectric transmission mechanism 6 includes a hollow shaft 61, a photoelectric separation tube 62, and a conductive slip ring 63. The hollow shaft 61 is coaxially disposed at the center of the hollow turntable 2222, and its upper end is connected to the rotating disk 221. Its lower end extends into the float body 1 and is arranged along the central axis of the float body 1. The photoelectric separation tube 62 is coaxially disposed inside the hollow shaft 61. The inner cavity of the photoelectric separation tube 62 forms a laser light path transmission channel, and the annular gap between the photoelectric separation tube 62 and the inner wall of the hollow shaft 61 forms an electrical circuit transmission channel. The conductive slip ring 63 is fitted on the hollow shaft 61 and is used for the transmission of power and control signals during rotation.

[0052] Furthermore, the bottom end of the photoelectric separator 62 is connected to the hollow shaft 61, so the hollow shaft 61 and the photoelectric separator 62 rotate with the rotation of the rotating disk 221. The interior of the float body 1 houses a power module, a control module, a laser, and a laser water-cooling assembly. The laser is a continuous or quasi-continuous high-power fiber laser with a wavelength of 1080nm. An electrical control box 7 is located at the upper end of the rotating disk 221. The electrical control box 7 supplies power to all components on the rotating disk 221, and the electrical energy is transmitted from the power module inside the float body 1 to the electrical control box 7 via an electrical circuit transmission channel. Inside the float body 1, below the conductive slip ring 63, there is also a fiber optic output connector 310 and a collimating lens group 320. The laser beam generated by the laser is transmitted through the fiber optic cable to the fiber optic output connector 310 and emitted. After being collimated and shaped by the collimating lens group 320, it is incident upward along the central axis of the float body 1 into the laser optical path transmission channel, and then transmitted by the laser optical path transmission channel to the top of the rotating disk 221, and enters the fixed optical lens group 311 of the laser component 31.

[0053] It should be noted that the photoelectric transmission mechanism 6 is the core hub connecting the static equipment inside the float body 1 and the dynamic operating components on the rotating disk 221. Through the design of the hollow shaft 61, photoelectric separation tube 62, and conductive slip ring 63, it simultaneously achieves stable transmission of the laser optical path, power circuit, and control signal circuit without interference while the rotating disk 221 is rotating. The hollow shaft 61, as the supporting frame of the photoelectric transmission mechanism 6, is coaxially inserted through the center of the hollow turntable 2222 and arranged along the central axis of the float body 1, so that the laser transmission path is precisely aligned with the rotation center of the icebreaking device. That is, the laser optical path transmission channel is always located on the rotation axis. The rotational motion of the rotating disk 221 will not cause any disturbance to the transmission channel inside the hollow shaft 61, realizing the spatial decoupling of the optical transmission system and the rotational motion, thereby ensuring the positional stability of the optical path under dynamic conditions at the physical level.

[0054] The photoelectric separator 62 is coaxially disposed inside the hollow shaft 61, dividing its interior into two functionally independent channels: the inner cavity serves as the laser light path transmission channel, providing an unobstructed and pollution-free sealed transmission environment for the high-energy laser beam, ensuring that the laser spot quality and pointing accuracy are not affected during the transmission of the laser from the laser inside the float body 1 to the laser assembly 31 on the rotating disk 221; the annular gap between the photoelectric separator 62 and the inner wall of the hollow shaft 61 serves as the electrical circuit transmission channel, distributing the power and control signals from the power supply and control module inside the float body 1 to all electrical components such as the laser assembly 31, de-icing blade assembly 32, excitation assembly 33, and various drive motors on the rotating disk 221 via the electrical control box 7.

[0055] In the optical transmission path, the laser beam generated by the laser is transmitted through the optical fiber to the optical fiber output connector 310 and then emitted. The collimating lens group 320 collimates and shapes the beam to ensure that the laser beam is incident on the central axis of the float body 1 in the form of parallel or nearly parallel light into the laser optical transmission channel. After being transmitted through the laser optical transmission channel to the top of the rotating disk 221, it directly enters the fixed optical lens group 311 of the laser component 31. Then, the fixed optical lens group 311 is guided by the telescopic lens tube 313 to the moving optical lens group 312 and finally emitted upwards into the ice layer.

[0056] A conductive slip ring 63 is fitted onto the hollow shaft 61. Its stator end is electrically connected to the power module and control module inside the float body 1. The rotor end rotates synchronously with the hollow shaft 61 and the rotating disk 221. Uninterrupted transmission of power and control signals during rotation is achieved through sliding electrical contact, avoiding reliability issues such as cable entanglement and breakage during rotation. Thus, the photoelectric transmission mechanism 6, with a single coaxial structure, simultaneously carries the optical path, circuit, and signal path, reliably transmitting all the energy and information required for rotation from the stationary end to the rotating end. This ensures both the transmission accuracy of the high-energy laser and the continuous power supply and real-time control of the various actuators on the rotating disk 221, providing transmission assurance for the long-term stable operation of the icebreaking device under underwater rotation conditions.

[0057] See Figure 7 As shown, in one embodiment of the present invention, the laser assembly 31 includes a fixed optical mirror group 311, a movable optical mirror group 312, a telescopic lens tube 313, and a horizontal drive assembly 314. The fixed optical mirror group 311 is fixedly mounted on the rotating disk 221 and is used to receive the laser beam input from the laser optical path transmission channel; the movable optical mirror group 312 is horizontally movable and mounted on the rotating disk 221 and is used to project the laser beam vertically upwards to the ice layer; the two ends of the telescopic lens tube 313 are respectively connected to the fixed optical mirror group 311 and the movable optical mirror group 312, and the telescopic lens tube 313 extends and retracts synchronously with the translation of the movable optical mirror group 312 to maintain a sealed optical path; the horizontal drive assembly 314 is used to drive the movable optical mirror group 312 to move horizontally.

[0058] See Figure 8 As shown, the horizontal drive assembly 314 further includes a second stepper motor 3143, a rack and pinion transmission mechanism 3141, and a connecting plate 3142. The second stepper motor 3143 drives the connecting plate 3142 to move along the linear track 3144 via the rack and pinion transmission mechanism 3141. One end of the connecting plate 3142 is connected to the moving optical mirror assembly 312. Under the drive of the second stepper motor 3143, the moving optical mirror assembly 312 can achieve linear motion, and its linear motion is located between the small cutter head 322 and the large cutter head 321.

[0059] It should be noted that the fixed optical lens group 311 is fixedly mounted on the rotating disk 221, serving as the optical path interface for the laser beam to enter the rotating working surface from the stationary photoelectric transmission mechanism 6. Its position is constant relative to the rotating disk 221. It receives the laser beam emitted vertically upward from the laser optical path transmission channel inside the photoelectric separation tube 62 and guides it to the horizontal direction, providing a stable incident reference for the subsequent horizontal displacement of the moving optical lens group 312. Driven by the horizontal drive component 314, the moving optical lens group 312 can perform linear reciprocating motion along a straight line parallel to the radial direction of the rotating disk 221. Its motion trajectory is set in the gap area between the small cutter head 322 and the large cutter head 321, utilizing the limited layout space between the two sets of cutter heads on the rotating disk 221 and avoiding motion interference with the cutting components. As the position of the moving optical mirror group 312 changes, the upward position of the laser beam also changes. Combined with the circumferential rotation of the rotating disk 221, the laser spot forms a spiral scanning trajectory from the center to the edge at the bottom of the ice layer, covering the entire target ice-breaking area. This achieves uniform irradiation pretreatment of the entire cross-section of the ice body using a single laser source. The two ends of the telescopic lens tube 313 are respectively sealed to the fixed optical mirror group 311 and the moving optical mirror group 312. When the moving optical mirror group 312 moves horizontally, the telescopic lens tube 313 extends and retracts synchronously, maintaining the airtightness of the optical path and preventing impurities such as water vapor and ice fragments from the underwater environment from entering the optical path and affecting the laser transmission quality and the lifespan of the optical lenses. The horizontal drive assembly 314 uses a second stepper motor 3143 in conjunction with a gear and rack transmission mechanism 3141 to drive the connecting plate 3142 and the moving optical mirror group 312 in linear motion, providing a stable and reliable horizontal displacement drive for the moving optical mirror group 312 and ensuring precise adjustment of the laser scanning radius. Thus, within the compact space on the upper surface of the rotating disk, the laser assembly 31, with a fixed optical lens group as the reference, a moving optical lens group as the execution end, a telescopic lens tube as the sealing guarantee, and a horizontal drive assembly as the displacement drive, achieves adjustable and controllable laser irradiation radius and full-section scanning coverage. This provides uniform and sufficient pre-weakening treatment of ice for subsequent excitation and cracking and mechanical cutting, ensuring the efficiency and quality of ice-breaking operations from the source.

[0060] See Figure 9 and Figure 10As shown, in one embodiment of the present invention, the multi-stage anchoring mechanism 4 includes a primary anchoring component 41, a secondary anchoring component 42, and a tertiary anchoring component 43. The primary anchoring component 41 includes a plurality of primary anchor rods (primary anchor studs) 411 inclined upwards on the top plate of the pontoon body 1, used to penetrate the ice layer to provide initial positioning when the ice-breaking device floats up and abuts against the ice layer; the secondary anchoring component 42 includes a plurality of secondary anchor claws (secondary anchor studs) 421 retractably disposed at the bottom end of the lifting plate 23; the tertiary anchoring component 43 includes a plurality of tertiary anchor claws (tertiary anchor studs) 431 retractably disposed on the top plate of the pontoon body 1, the extension action of the tertiary anchor claws 431 being used to push the primary anchor rods 411, causing them to detach from the pontoon body 1.

[0061] It should be noted that the multiple secondary anchor claws 421 have two states: relatively extended and retracted. The extended state can be used for anchoring, while the retracted state can avoid interference with other structures. The multiple tertiary anchor claws 431 also have two states: relatively extended and retracted. The extended state can be used for anchoring, while the retracted state can avoid interference with other structures.

[0062] In the initial stage of icebreaking operation, the icebreaking device floats to the lower surface of the ice layer under the buoyancy of the pontoon body 1. The first-stage anchor rod 411, which is inclined upward, first contacts the ice layer and penetrates it. The buoyancy of the pontoon body 1 and the wedging effect of the first-stage anchor rod 411 provide initial positioning and stable support for the entire icebreaking device, ensuring that subsequent icebreaking operations are carried out on a stable reference surface. When the vertical feed assembly 21 drives the lifting plate 23 to complete a single stroke of icebreaking and feeds to the stroke limit, the second-stage anchor claw 421 located at the bottom of the lifting plate 23 extends and anchors to the ice layer, firmly fixing the lifting plate 23 and the icebreaking actuator 3 above it to the broken ice layer hole wall, providing a reliable force point for the displacement of the pontoon body 1. Subsequently, the third-stage anchor claw 431 located on the top plate of the pontoon body 1 swings outward and extends. Its side wall pushes the bottom of the first-stage anchor rod 411, causing the first-stage anchor rod 411 to rotate around its bottom mounting pin and disengage from the pin, releasing the initial anchoring constraint between the pontoon body 1 and the ice layer. After the pontoon body 1 is decoupled from the ice layer, the vertical feed assembly 21 retracts and resets. Driven by its own buoyancy, the pontoon body 1 slides upward along the broken channel for a distance, completing the step-by-step upward movement of the pontoon body 1. Subsequently, the third-stage anchor claw 431 extends and anchors to the ice layer, providing new support for the pontoon body 1. The second-stage anchor claw 421 retracts, and the vertical feed assembly 21 extends again to drive the lifting plate 23 into the next ice-breaking stroke. Through the initial anchoring of the first-stage anchor rod 411, the alternating support and separation of the second-stage and third-stage anchor claws 421, and the cyclical action of the reciprocating extension and retraction of the vertical feed assembly 21, the ice-breaking device as a whole climbs the ice layer step by step in a manner similar to rock climbing. This transforms the limited vertical feed stroke into an unlimited ability to penetrate thick ice layers, fundamentally breaking through the technical bottleneck of traditional ice-breaking devices that are limited by the stroke of the propulsion mechanism and cannot penetrate thick ice layers.

[0063] In one embodiment of the present invention, the multi-stage anchoring mechanism 4 further includes a push-pull electromagnetic unit 44; Each secondary anchor claw 421 is hinged to the bottom of the lifting plate 23. Part of the push-pull electromagnetic unit 44 is used to extend and retract the secondary anchor claw 421 to swing around its hinge fulcrum, so that the secondary anchor claw 421 can extend and anchor or retract to avoid obstacles. Each tertiary anchor claw 431 is hinged to the top plate of the pontoon body 1. Another part of the push-pull electromagnetic unit 44 is used to drive the tertiary anchor claw 431 to swing around its hinge fulcrum. When the tertiary anchor claw 431 swings and extends, its side wall touches the corresponding primary anchor rod 411, driving the primary anchor rod 411 to flip and disengage around its bottom mounting pin, so as to release the primary anchoring limit.

[0064] Furthermore, both the secondary anchor claw 421 and the tertiary anchor claw 431 are L-shaped bent wedge-type anchor claw structures. The claw body extends obliquely to form a wedge-shaped end, and after swinging, the tip of the wedge-shaped end diagonally penetrates the ice layer to achieve anchoring. A double-hole hinged installation section is provided at the root. The hinge hole at the bend is the hinge fulcrum, and the other hinge hole is hinged to the drive end of the push-pull electromagnetic unit 44 through a pin. When the push-pull electromagnetic unit 44 extends, the wedge-type anchor claw structure swings outward around the hinge fulcrum at the bend, and the wedge-shaped end wedges into the ice layer to complete the anchoring. When the push-pull electromagnetic unit 44 retracts, it pulls the wedge-type anchor claw structure to rotate in the opposite direction and retract, so that the wedge-shaped end exits the ice layer to avoid collision. Among them, during the outward swinging anchoring stroke, the tertiary anchor claw 431 relies on the straight side wall of the claw body to press against the rod body of the primary anchor rod 411, and simultaneously completes the disengagement and unlocking action of the primary anchor rod 411.

[0065] It should be noted that the push-pull electromagnetic unit 44 serves as the driving element for the secondary anchor claw 421 and the tertiary anchor claw 431. It directly drives the shaft core to perform linear telescopic motion through electromagnetic force, which is then converted into the swing motion of the anchor claw around the hinge point via a pin hinge. The driving method is simple and compact, requiring no additional hydraulic or pneumatic auxiliary circuits. It has good sealing and anti-pollution capabilities in underwater environments, and its fast response speed can meet the high frequency and high reliability requirements of anchoring switching actions during step-climbing. The secondary anchor claw 421 and the tertiary anchor claw 431 adopt an L-shaped bent wedge-type anchor claw structure. The claw body is bent and extended obliquely to form a wedge-shaped end. The wedge-shaped end is driven by the extension of the push-pull electromagnetic unit 44 to obliquely penetrate the ice layer. The wedge force is decomposed along the normal direction of the edge. Taking advantage of the material property that the compressive strength of ice is much higher than its tensile strength, reliable wedge anchoring can be achieved with a small driving force. At the same time, the wedge-shaped end and the ice layer form a self-locking effect in the anchored state. The reaction force of the ice layer on the anchor claw keeps the wedge-shaped end embedded. Even if the ice-breaking device is disturbed by the reaction force of ice-breaking operation or buoyancy fluctuations, the anchor claw will not loosen or withdraw, ensuring the stability of the anchor support. When the push-pull electromagnetic unit 44 retracts, it directly pulls the anchor claw to rotate in the opposite direction, forcibly withdrawing the wedge-shaped end from the ice layer. After retraction, the anchor claw as a whole retracts to the outer contour range of the float body 1 or the lifting plate 23, avoiding scraping and jamming with the ice layer hole wall during the floating of the float body 1 or the feeding of the lifting plate 23.

[0066] The three-stage anchor claw 431 structurally integrates both anchoring and unlocking functions. During its outward swinging motion for self-anchoring, the straight sidewall of the claw simultaneously presses against the rod of the first-stage anchor rod 411, pushing the first-stage anchor rod 411 to flip and disengage around its bottom mounting pin. A single electromagnetic drive action simultaneously completes both the anchoring of the three-stage anchor claw and the unlocking of the first-stage anchor rod, eliminating the need for a separate drive element for the first-stage anchor rod 411. This simplifies the structural complexity of the anchoring system, reduces control nodes and potential failure points, and improves the reliability of the action sequence. Thus, the multi-stage anchoring mechanism 4, using electromagnetic direct drive in conjunction with L-shaped bent wedge-type anchor claws, achieves integrated functions of rapid response, reliable anchoring, forced unlocking, and compact retraction, providing efficient and reliable execution support for the underwater autonomous stepping ascent of the icebreaking device.

[0067] On the other hand, the present invention also provides a laser-assisted underwater progressive icebreaking method for thick ice layers, employing the aforementioned laser-assisted underwater progressive icebreaking device for thick ice layers, comprising the following steps: Step S1: The pontoon body 1, carrying the ice-breaking device, rises to the lower surface of the ice layer. The detection mechanism 5 touches the ice and outputs a positioning signal. The anchoring component in the multi-stage anchoring mechanism 4, located on the pontoon body 1, extends and penetrates the ice layer, completing the initial fixation of the ice-breaking device; see... Figure 13 .

[0068] S2: The rotary drive 222 drives the rotary disk 221 to rotate continuously in the circumferential direction. The laser component 31 rotates with the rotary disk 221 and irradiates the ice layer upward to pre-treat the ice. After the pre-treatment, the ice removal blade component 32 starts to rotate and revolves with the rotary disk 221 to cut and remove the pre-treated ice. Simultaneously, the vertical feed component 21 extends to drive the lifting disk 23 to feed upward, driving the ice breaking actuator 3 to continuously act on the ice layer to complete the single-stroke ice breaking operation. S3: After the vertical feed assembly 21 feeds to the limit of its stroke, the anchoring assembly on the lifting plate 23 extends and anchors to the ice layer; the anchoring assembly on the pontoon body 1 is released from the constraint of the ice layer, and then the vertical feed assembly 21 retracts and resets, and the pontoon body 1 moves upward under the action of buoyancy; the anchoring state is switched, so that the anchoring assembly on the pontoon body 1 extends and anchors again, and the anchoring assembly on the lifting plate 23 retracts and releases the anchor, completing a single step climb; S4: Repeat S2 to S3. Through the alternating anchoring of the multi-level anchoring mechanism 4 and the reciprocating extension and retraction of the vertical feed component 21, the ice-breaking device can continuously step along the ice layer to break the ice until the detection mechanism 5 detects that the ice layer is completely penetrated and then stops.

[0069] In one embodiment of the present invention, the anchoring components on the pontoon body 1 include a primary anchoring component 41 and a tertiary anchoring component 43, and the anchoring components on the lifting plate 23 are secondary anchoring components 42. In step S3, when the vertical feed component 21 feeds to the travel limit, it is determined whether it is the first working cycle; If this is the first job cycle, execute in the following order: S311: The secondary anchor claw 421 of the secondary anchoring component 42 extends out and is anchored to the ice layer; S312: The third-level anchor claw 431 of the third-level anchoring assembly 43 swings outward and extends, its sidewall pushing the first-level anchor rod 411 of the first-level anchoring assembly 41, causing the first-level anchor rod 411 to flip and disengage around its bottom mounting pin. Subsequently, the third-level anchor claw 431 of the third-level anchoring assembly 43 swings inward to retract; see Figure 14 Where C represents the outer contour of the large-blade cutting area and c represents the outer contour of the small-blade cutting area. It can be seen that the outer contour of the small-blade cutting area extends out of the outer perimeter of the float body 1, which ensures that the float body 1 can float smoothly.

[0070] S313: Vertical feed assembly 21 retracts and resets, and float body 1 moves upward under the action of buoyancy; S314: The third-level anchor claw 431 of the third-level anchoring component 43 swings outward and extends to anchor in the ice layer; the second-level anchor claw 421 of the second-level anchoring component 42 retracts, completing the first anchoring switch; see Figure 15 .

[0071] If this is not the first job cycle, execute in the following order: S321: The secondary anchor claw 421 of the secondary anchoring component 42 extends and anchors to the ice layer, and the tertiary anchor claw 431 of the tertiary anchoring component 43 retracts. When the vertical feed component 21 moves to the upper limit position... Figure 16 .

[0072] S322: The vertical feed assembly 21 retracts and resets, and the float body 1 moves upward under the action of buoyancy.

[0073] S323: The third-level anchor claw 431 of the third-level anchoring component 43 extends and anchors to the ice layer, and the second-level anchor claw 421 of the second-level anchoring component 42 retracts, completing this anchoring switch. In one embodiment of the present invention, a laser-assisted underwater progressive icebreaking device has the function of fully automatic autonomous underwater icebreaking, and its operation process is as follows: Figure 17 As shown, this specifically includes the work sequence between various operating mechanisms: Before the ice-breaking device is launched into the water, each actuator is reset and its function is verified. Once the control unit returns a normal signal, the ice-breaking device is ready to be deployed.

[0074] After being transported to the designated area by a submersible or underwater robot, the ice-breaking device is released and floats up under buoyancy until it reaches the bottom of the ice layer. The first-stage anchor rod 411 is first driven into the ice layer to provide support for the entire ice-breaking device. The entire ice-breaking operation starts from the bottom of the ice layer to break through the predetermined diameter through hole.

[0075] After the primary anchor bolt 411 penetrates the ice layer, the position sensor detects the ice-touching signal, and the ice-breaking device enters the ice-breaking operation state. First, the movement of the horizontal drive assembly 314 and the rotation of the rotating disk 221 drive the laser spot to pre-treat the ice in the target area. After the horizontal drive assembly 314 completes one extension and retraction, the vibration assembly 33, in conjunction with the intermittent movement of the rotating disk 221, continues to further damage the ice in the target area. Next, the rotation of the de-icing blade assembly 32 and the revolution of the rotating disk 221 remove the damaged ice from the target area. Subsequently, the vertical feed assembly 21 begins to feed upwards, driving the ice-breaking mechanism on the rotating disk 221 to continue operating. The operating sequence between each mechanism is as follows: Figure 18 As shown.

[0076] To address the issue of the limited stroke of the vertical feed component 21 (electric cylinder) preventing it from breaking thick ice in one go, a progressive method using multi-stage anchoring components is employed. When the electric cylinder reaches its stroke limit, the secondary anchor claw 421 extends to provide support for the pontoon body 1. Subsequently, the primary anchor bolt 411 detaches from the ice-breaking device under the outward elastication of the tertiary anchor claw 431, and then the tertiary anchor claw 431 retracts. Under the combined effects of buoyancy and the retraction of the electric cylinder, the entire pontoon body 1 gradually resets. After the electric cylinder resets, the tertiary anchor claw 431 takes over from the secondary anchor claw 421 to support the pontoon body 1, ensuring its stability under the ice-breaking force. After the first anchoring interaction is completed, subsequent interactions between the secondary and tertiary anchor claws and the resetting action of the electric cylinder are sufficient to achieve the stepwise displacement of the pontoon body 1. The timing diagram of each anchoring interaction and electric cylinder action is shown below. Figure 19 As shown.

[0077] The entire icebreaking operation was carried out in accordance with Figure 17 The process continues until the position sensor reports that the ice-breaking operation is complete, thus finishing the entire ice-breaking task.

[0078] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A laser-assisted underwater progressive icebreaking device for thick ice layers, characterized in that, include: Float body (1); The lifting and rotating mechanism (2) includes a vertical feed component (21) and a rotating component (22). The vertical feed component (21) is mounted on the float body (1), and its driving end is used to drive the lifting plate (23) to feed in the vertical direction. The rotating component (22) includes a rotating plate (221) rotatably mounted above the lifting plate (23), and a rotating drive component (222) for driving the rotating plate (221) to perform circumferential rotation. Ice-breaking actuator (3), which is installed on the upper end face of the rotating disk (221) and includes a laser assembly (31) for irradiating and pretreating the ice layer, and an ice-removing blade assembly (32) for mechanically removing the pretreated ice layer. The multi-stage anchoring mechanism (4) includes at least two sets of anchoring components. The two sets of anchoring components are respectively located on the pontoon body (1) and the lifting plate (23). Through the alternating anchoring and separation of the anchoring components, and in conjunction with the extension and retraction of the vertical feeding component (21), the ice-breaking device can achieve step-by-step climbing along the ice layer. The detection mechanism (5) is used to detect the contact state between the ice-breaking device and the ice layer, the stroke limit of the vertical feed component (21), and the penetration state of the ice layer.

2. The laser-assisted underwater progressive icebreaking device for thick ice layers according to claim 1, characterized in that, The ice-breaking actuator (3) also includes a vibration assembly (33) mounted on the rotary disk (221), which is used to apply vibration to the ice layer after laser pretreatment and before de-icing operation to induce crack propagation.

3. The laser-assisted underwater progressive icebreaking device for thick ice layers according to claim 1, characterized in that, The de-icing blade assembly (32) includes a large blade disc (321) and a small blade disc (322) that are driven by independent rotation. The large blade cutting area of ​​the large blade disc (321) covers the central area of ​​the rotating disk (221), and the small blade cutting area of ​​the small blade disc (322) covers the radial outer contour extending outward from the float body (1). The large blade cutting area and the small blade cutting area overlap radially to form an annular overlapping cutting area.

4. The laser-assisted underwater progressive icebreaking device for thick ice layers according to claim 1, characterized in that, The vertical feed assembly (21) includes an electric cylinder, the cylinder body of which is located inside the float body (1), and its drive end extends upward and is connected to the lifting plate (23) to drive the lifting plate (23) to feed in the vertical direction; the rotary drive component (222) includes a drive motor (2221) and a hollow turntable (2222), the hollow turntable (2222) is mounted on the lifting plate (23), and the drive motor (2221) drives the rotary plate (221) to rotate through the hollow turntable (2222) for deceleration transmission.

5. The laser-assisted underwater progressive icebreaking device for thick ice layers according to claim 4, characterized in that, It also includes a photoelectric transmission mechanism (6), which includes: Hollow shaft (61), the hollow shaft (61) is coaxially inserted through the center of the hollow turntable (2222), and its upper end is connected to the rotating disk (221), and its lower end extends into the float body (1) and is arranged along the central axis of the float body (1); A photoelectric separator (62) is coaxially disposed inside the hollow shaft (61). The inner cavity of the photoelectric separator (62) forms a laser optical path transmission channel, and the annular gap between the photoelectric separator (62) and the inner wall of the hollow shaft (61) forms an electrical circuit transmission channel. A conductive slip ring (63) is fitted onto the hollow shaft (61) and is used for the transmission of power and control signals during rotation.

6. The laser-assisted underwater progressive icebreaking device for thick ice layers according to claim 5, characterized in that, The laser assembly (31) includes: Fixed optical lens group (311), which is fixedly mounted on the rotating disk (221) for receiving laser beams input from the laser optical path transmission channel; A moving optical mirror assembly (312) is horizontally movable and mounted on the rotating disk (221) for projecting a laser beam vertically upwards onto the ice layer. Telescopic lens tube (313), the two ends of which are respectively connected to the fixed optical lens group (311) and the moving optical lens group (312). The telescopic lens tube (313) extends and retracts synchronously with the translation of the moving optical lens group (312) to maintain a sealed optical path. A horizontal drive assembly (314) is used to drive the moving optical lens group (312) to move horizontally.

7. The laser-assisted underwater progressive icebreaking device for thick ice layers according to claim 1, characterized in that, The multi-stage anchoring mechanism (4) includes: The primary anchoring assembly (41) includes multiple primary anchor rods (411) inclined upward on the top plate of the pontoon body (1), which are used to penetrate the ice layer to provide initial positioning when the ice-breaking device floats up and abuts against the ice layer. Secondary anchoring assembly (42), the secondary anchoring assembly (42) includes a plurality of retractable secondary anchor claws (421) located at the bottom end of the lifting plate (23). The three-stage anchoring assembly (43) includes a plurality of retractable three-stage anchor claws (431) on the top plate of the pontoon body (1). The extension action of the three-stage anchor claws (431) is used to push the first-stage anchor bolt (411) away from the pontoon body (1).

8. The laser-assisted underwater progressive icebreaking device for thick ice layers according to claim 7, characterized in that, The multi-stage anchoring mechanism (4) also includes a push-pull electromagnetic unit (44). Each of the secondary anchor claws (421) is hinged to the bottom end of the lifting plate (23), and some of the push-pull electromagnetic units (44) are used to extend and retract the secondary anchor claws (421) to swing around their hinge fulcrum, so as to realize the extension and anchoring or retraction of the secondary anchor claws (421) to avoid obstacles. Each of the three-stage anchor claws (431) is hinged to the top plate of the pontoon body (1). Another part of the push-pull electromagnetic unit (44) is used to drive the three-stage anchor claws (431) to swing around their hinge fulcrum. When the three-stage anchor claws (431) swing and extend, their sidewalls push the corresponding first-stage anchor rods (411), causing the first-stage anchor rods (411) to rotate around their bottom mounting pins to release the first-stage anchoring limit.

9. A laser-assisted underwater progressive icebreaking method for thick ice layers, characterized in that: The laser-assisted underwater progressive icebreaking device for thick ice layers, as described in any one of claims 1 to 8, comprises the following steps: S1: The pontoon body (1) carries the ice-breaking device to the lower surface of the ice layer. The detection mechanism (5) touches the ice and outputs a positioning signal. The anchoring component in the multi-stage anchoring mechanism (4) located on the pontoon body (1) extends and penetrates the ice layer to complete the initial fixation of the ice-breaking device. S2: The rotary drive (222) drives the rotary disk (221) to rotate continuously in the circumferential direction. The laser component (31) rotates with the rotary disk (221) and irradiates the ice layer upward to pre-treat the ice. After the pre-treatment is completed, the ice removal blade component (32) starts to rotate and revolves with the rotary disk (221) to cut and remove the pre-treated ice. Simultaneously, the vertical feed component (21) extends to drive the lifting disk (23) to feed upward, driving the ice breaking actuator (3) to continuously act on the ice layer to complete the single-stroke ice breaking operation. S3: After the vertical feed assembly (21) feeds to the travel limit, the anchoring assembly on the lifting plate (23) extends and anchors to the ice layer; the anchoring assembly on the pontoon body (1) is released from the constraint of the ice layer, and then the vertical feed assembly (21) retracts and resets, and the pontoon body (1) moves upward under the action of buoyancy; the anchoring state is switched so that the anchoring assembly on the pontoon body (1) extends and anchors again, and the anchoring assembly on the lifting plate (23) retracts and releases the anchoring, thus completing a single step climb; S4: Repeat S2 to S3, and through the alternating anchoring of the multi-level anchoring mechanism (4) and the reciprocating extension and retraction of the vertical feed component (21), the ice-breaking device can achieve continuous step-by-step ice breaking along the ice layer until the detection mechanism (5) detects that the ice layer is completely penetrated and then stops.

10. The laser-assisted underwater progressive icebreaking method for thick ice layers according to claim 9, characterized in that, The anchoring components on the pontoon body (1) include a primary anchoring component (41) and a tertiary anchoring component (43), and the anchoring components on the lifting plate (23) are secondary anchoring components (42). In step S3, when the vertical feed component (21) feeds to the stroke limit, it is determined whether it is the first working cycle; If this is the first job cycle, execute in the following order: The secondary anchor claw (421) of the secondary anchoring component (42) extends out and anchors to the ice layer; The third-level anchor claw (431) of the third-level anchoring assembly (43) swings outward and extends, and its sidewall pushes the first-level anchor rod (411) of the first-level anchoring assembly (41), causing the first-level anchor rod (411) to flip and disengage around its bottom mounting pin. Then the third-level anchor claw (431) of the third-level anchoring assembly (43) swings inward to retract. The vertical feed assembly (21) retracts and resets, and the float body (1) moves upward under the action of buoyancy; The third-level anchor claw (431) of the third-level anchoring component (43) swings outward and extends and anchors to the ice layer, and the second-level anchor claw (421) of the second-level anchoring component (42) retracts, completing the first anchoring switch; If this is not the first job cycle, execute in the following order: The secondary anchor claw (421) of the secondary anchoring component (42) extends and anchors to the ice layer, and the tertiary anchor claw (431) of the tertiary anchoring component (43) retracts; The vertical feed assembly (21) retracts and resets, and the float body (1) moves upward under the action of buoyancy; The third-level anchor claw (431) of the third-level anchoring component (43) extends and anchors to the ice layer, and the second-level anchor claw (421) of the second-level anchoring component (42) retracts, completing this anchoring switch.

Images