Underwater multi-shape flexible system and ice breaking method

Abstract

The application discloses an underwater multi-shape flexible system and an ice breaking method, and belongs to the technical field of ice breaking. The system comprises a flexible carrier and a plurality of energy-containing ice breaking units. The flexible carrier is a net-shaped structure and is expanded into a preset geometric topological form under the cooperation of underwater vehicles and dragging. The energy-containing ice breaking units are arranged on the flexible carrier and have underwater attitude adjustment functions, and can accurately keep the optimal explosion distance from the lower surface of the ice layer. The application also discloses an ice breaking method using the system. According to the ice conditions, a suitable flexible carrier is matched, different topological forms are expanded through underwater vehicle dragging, and after being separated, the ice layer is broken by forming superimposed shock waves through explosion. The application effectively reduces the influence of water flow on the distribution of units, guarantees the consistency of explosion distance and the superimposed effect of shock waves, significantly improves the ice breaking efficiency of unit explosive quantity, and is suitable for efficient and safe ice breaking operation of polar thick ice layer.

Description

Technical Field

[0001] This invention relates to the field of underwater icebreaking technology, and in particular to an underwater multi-shaped flexible system and icebreaking method. Background Technology

[0002] The polar regions are rich in strategic resources such as minerals and oil and gas, and the commercial value of their shipping routes is increasingly prominent. However, polar seas are covered year-round by sea ice with a thickness of 3 to 5 meters, and this ice layer is characterized by extreme low temperatures, complex ice formations, and high ecological protection requirements. Currently, existing icebreaking technologies can be mainly divided into the following categories: Category 1: Traditional mechanical ramming icebreaking: relies on the weight of the hull and the bow to break ice, but its efficiency drops sharply when facing thick ice, it consumes a lot of energy and the hull is easily damaged.

[0003] The second type: manual fixed-point blasting on ice: workers manually place explosive charges at a pre-selected location on the ice and detonate them to break the ice. This method poses serious safety hazards to the operators.

[0004] The third category: Underwater fixed-depth icebreaking: Patent CN117704914A discloses a "remote icebreaking system and method for fixed-depth blasting under ice," which uses a heavy-duty drone to carry icebreaking explosive charges for deployment at a certain depth underwater. However, this solution still has the following shortcomings: the number of icebreaking explosive charges needs to be determined based on their individual weight to determine the number of drones, and the coverage area of ​​a single operation is small due to the limited payload capacity of the drones; the length of the safety rope and load-bearing rigging needs to be determined based on the preset water depth of the explosive charges and the thickness of the ice layer, and holes need to be drilled to set the predetermined blasting points. In polar environments with thick ice layers, drilling is difficult, resulting in high labor costs and low operational efficiency; in addition, after the explosive charges are deployed, they are easily affected by water flow and may shift, making it difficult to accurately control the relative positions of each explosive charge with the ice layer and between the explosive charges themselves. Due to the inability to achieve precise position control of the explosive charges, it is difficult to form an effective superposition effect of the explosive shock wave, which significantly reduces the icebreaking effect.

[0005] In summary, existing icebreaking technologies have limited processing capabilities, only able to handle ordinary thin ice layers and unable to effectively break thick polar ice layers. They also exhibit significant shortcomings in icebreaking efficiency, explosive deployment accuracy, and operational safety. Therefore, achieving rapid, precise, and efficient breaking of large areas of thick ice layers has become a pressing technical challenge. Summary of the Invention

[0006] Therefore, one object of the present invention is to provide an underwater multi-shaped flexible system and icebreaking method to solve the problems mentioned in the background art and overcome the shortcomings of the prior art.

[0007] To achieve the above objectives, the present invention provides an underwater multi-shape flexible system, including a flexible carrier and an energetic ice-breaking unit. The flexible carrier is provided with a plurality of energetic ice-breaking units. The flexible carrier has a mesh structure and unfolds into a preset geometric topology under the cooperative towing of an underwater vehicle.

[0008] Preferably, the flexible carrier is deployed radially under the towing of the underwater vehicle.

[0009] In any of the above schemes, it is preferred that the radial arrangement be fan-shaped or V-shaped.

[0010] In any of the above schemes, it is preferred that the flexible carrier is arranged in a circular, annular, or polygonal closed loop under the towing of the underwater vehicle.

[0011] In any of the above schemes, it is preferred that the flexible carrier is arranged in a rectangular shape under the towing of the underwater vehicle.

[0012] In any of the above schemes, it is preferred that the flexible carrier is arranged in a triangular or stepped shape under the towing of the underwater vehicle.

[0013] In any of the above embodiments, it is preferred that the energetic ice-breaking unit has an attitude adjustment function underwater.

[0014] In any of the above embodiments, the preferred embodiment is that the energetic ice-breaking unit includes a waterproof shell, a power supply, a depth-fixing communication module, a buffer, an energetic material, a detonation device, and a micro propeller; the interior of the waterproof shell forms a first inner cavity and a second inner cavity, the buffer is disposed in the first inner cavity, the depth-fixing communication module is disposed on the buffer, the power supply is connected to the depth-fixing communication module, the energetic material and the detonation device are disposed in the second inner cavity, the micro propeller is disposed on the outer wall of the waterproof shell, and a pressure measuring hole is provided on the waterproof shell.

[0015] In any of the above embodiments, it is preferred to further include an end stabilizer, which is connected to the flexible carrier.

[0016] In any of the above embodiments, it is preferred to further include a detachable connection mechanism, through which the underwater vehicle is connected to the flexible carrier.

[0017] In any of the above schemes, it is preferred that the ratio of the physical distance between adjacent energetic ice-breaking units on the flexible carrier to the maximum bubble radius generated by the equivalent explosion of a single energetic ice-breaking unit is less than or equal to 2.7.

[0018] The present invention also discloses an icebreaking method utilizing any of the above-mentioned underwater multi-shape flexible systems, comprising the following steps: Step S1: Pre-detect the ice layer using sonar or radar to obtain information on ice condition categories; Step S2: Based on the ice condition category information, select flexible carriers of different shapes. Step S3: The flexible carrier is towed by an underwater vehicle to unfold it into a preset geometric topology underwater. Step S4: The underwater vehicle detaches from the flexible carrier and detonates each energetic ice-breaking unit, generating superimposed shock waves to break the ice layer.

[0019] Preferably, step S3 specifically includes one of the following methods: Method 1: Several underwater vehicles start from the same point on the container and diverge forward at a preset angle, towing a flexible carrier so that the flexible carrier unfolds into a radial shape; Method 2: Several underwater vehicles tow around the target ice area in a circular or polygonal closed loop.

[0020] Method 3: Several underwater vehicles maintain parallel spacing and tow a flexible carrier in a straight line, causing the flexible carrier to unfold into a rectangle.

[0021] Method 4: Several underwater vehicles tow a flexible carrier along a diagonal or stepped trajectory, causing the flexible carrier to unfold into a triangle or stepped shape.

[0022] In any of the above schemes, the preferred option is that, for S1, S2 and S3, the detonation of each energetic ice-breaking unit in step S4 specifically includes: detonating each energetic ice-breaking unit arranged on the flexible carrier by using a timed detonation method or a delayed detonation method.

[0023] In any of the above schemes, the preferred method is that, for the fourth method, the detonation of each energetic ice-breaking unit in step S4 specifically includes: using a delayed detonation method, the energetic ice-breaking units arranged on the flexible carrier are detonated sequentially in the direction from the tip of the triangle to the bottom, or in the direction from the narrow end to the wide end of the step shape.

[0024] In any of the above schemes, it is preferred that the distance between the underwater vehicle towing the flexible carrier and suspending it on the lower surface of the ice layer is 0.8 to 1.3 times the radius of the equivalent energetic charge sphere.

[0025] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention uses an underwater vehicle to precisely guide a flexible carrier with a mesh structure to a predetermined underwater area. The mesh structure constrains the relative positions of each energetic ice-breaking unit, significantly reducing the impact of water flow on the distribution of the energetic ice-breaking units. This ensures that each energetic ice-breaking unit is precisely distributed in the predetermined position. When the energetic ice-breaking unit explodes, it can generate an effective shock wave superposition effect, significantly improving the ice-breaking efficiency per unit charge. At the same time, the mesh structure constrains each energetic ice-breaking unit to maintain the optimal detonation distance from the lower surface of the ice layer, thereby ensuring the consistency of the detonation distance. This achieves efficient breaking of thick polar ice layers and greatly improves the reliability, safety, and ice-breaking efficiency of ice-breaking operations.

[0026] 2. By using a flexible carrier with a mesh structure to limit the ratio of the physical distance between adjacent energetic ice-breaking units to the radius of their equivalent maximum explosive bubble, and by enabling the energetic ice-breaking units to adjust their attitude underwater, the predetermined physical distance between each unit and the optimal explosion distance between the lower surface of the ice layer can be maintained more precisely. This ensures that the multi-point explosion shock waves can have a full superposition effect on the ice layer, achieving the best ice-breaking effect with a unit amount of explosive and maximizing the utilization rate of ice-breaking energy.

[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the underwater deployment state of an underwater multi-shape flexible system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the V-shaped layout structure of an underwater multi-shape flexible system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the circular layout structure of an underwater multi-shape flexible system according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the rectangular layout structure of an underwater multi-shape flexible system according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the triangular arrangement structure of an underwater multi-shape flexible system according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the stepped layout structure of an underwater multi-shape flexible system according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an energetic ice-breaking unit in an underwater multi-shape flexible system according to an embodiment of the present invention.

[0029] The components are: 1-Vessel; 2-Underwater navigation; 3-Separable connection mechanism; 4-Flexible carrier; 5-End stabilization mechanism; 6-Energized icebreaking unit; 7-Box; 8-Ice layer; 9-Depth-determining communication module; 10-Buffer component; 11-Energized material; 12-Detonation device; 13-Miniature propeller; 14-First inner cavity; 15-Second inner cavity; 16-Pressure measuring port; 17-Waterproof outer shell; 18-Power supply. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0031] like Figure 1 As shown, an underwater multi-shape flexible system according to an embodiment of the present invention includes a flexible carrier 4 and an energetic ice-breaking unit 6. A plurality of energetic ice-breaking units 6 are arranged on the flexible carrier 4. The flexible carrier 4 has a mesh structure and unfolds into a preset geometric topology under the cooperative towing of the underwater vehicle 2.

[0032] The underwater multi-shape flexible system can be used in underwater ice-breaking environments. For example, in icy seas in polar or high-latitude regions, the system can be deployed in the water below the surface ice layer.

[0033] The flexible carrier 4 unfolds into a preset geometric topology under the coordinated towing action of the underwater vehicle 2. Specifically, the thickness parameters of the ice layer 8 are first detected; based on different ice layer 8 thickness data, flexible carriers 4 with different geometric topologies are selected and matched accordingly; subsequently, the underwater vehicle 2 performs multi-point coordinated towing on the selected flexible carrier 4, causing it to dynamically unfold in the underwater environment and finally solidify into the preset geometric topology.

[0034] As an optional embodiment, the flexible carrier 4 is made of flexible materials, specifically high-strength flexible materials suitable for polar environments. These can be modified nylon or other cold-resistant materials, or environmentally friendly materials such as protein fibers or seaweed fibers that can biodegrade in polar environments. The flexible carrier 4 is used to connect multiple energetic icebreaking units 6 in series to form an integrated mesh structure. The energetic icebreaking units 6 can be connected in series at equal or unequal intervals. The length or area of ​​the flexible carrier 4 can be adaptively adjusted according to the needs of icebreaking operations. The flexible carrier 4 is connected to the underwater vehicle 2 via a detachable connection mechanism 3. Different geometric topologies of the flexible carrier 4 correspond to different numbers of underwater vehicles 2 connected. In the initial state, the flexible carrier 4 is housed inside the housing 7 in a Z-shaped fold or spiral coil manner.

[0035] As an optional embodiment, the mesh structure can adopt a geometrically regular shape, including but not limited to regular configurations such as circles, V-shapes, trapezoids, triangles, or squares. Specifically, the square shape can be implemented as a quadrilateral structure, such as a rectangle or square, or further extended to a polygonal irregular square structure, such as a regular pentagon, regular hexagon, or other polygonal shapes with different angles. Depending on the required thickness of the ice layer 8, different flexible carriers 4 with different topological shapes can be selected to match different shaped mesh structures and different numbers of underwater vehicles 2 for icebreaking operations. Alternatively, different flexible carriers 4 can be placed in the container 7, the container 7 can be lowered into the water, and based on the pre-detected characteristics such as the thickness of the ice layer 8, a matching process can be performed. Then, the matched underwater vehicle 2 can drag out the corresponding flexible carrier 4, and the underwater vehicle 2 can unfold the flexible carrier 4 according to a preset trajectory and drag it to the target area.

[0036] As an optional embodiment, the energetic ice-breaking unit 6 is a device or apparatus containing explosives. Further, the device or apparatus has an underwater attitude adjustment function, including adjusting its depth in the water and the ability to adjust the relative position between any two energetic ice-breaking units 6.

[0037] In one optional embodiment, the underwater vehicle is specifically a self-propelled submersible operating based on an autonomous program and a swarm control algorithm, wherein the swarm control algorithm can be a conventional swarm control algorithm in the art. At least two underwater vehicles are used to achieve collaborative operation. Each vehicle integrates a high-precision navigation and positioning module and is equipped with a very low frequency (VLF) communication receiving antenna for receiving external commands or synchronization signals.

[0038] As an optional embodiment, the flexible carrier 4 is arranged radially under the towing of the underwater vehicle 2.

[0039] As an optional embodiment, such as Figure 2 As shown, the radial layout is either fan-shaped or V-shaped.

[0040] The V-shaped deployment is a wide-area, divergent deployment method: at least two underwater vehicles (V2) depart from the same predetermined point or area on the hull 7 and extend to opposite sides, forming a predetermined angle between them, ranging from 0 to 90 degrees; thus creating a V-shaped radial towed arrangement. This V-shaped deployment is particularly suitable for rapid channel opening operations in medium-thickness ice layers 8. In this configuration, the energy-bearing icebreaking units 6 near the apex of the V-shape are relatively densely distributed, making the explosive energy acting on a unit area of ​​the ice layer 8 more concentrated, which is conducive to achieving efficient initial breaking of the ice layer 8.

[0041] As an optional implementation, the V-shaped structure can be configured as one, two, or more groups. Each group of V-shaped structures radiates outward from the same center point. Each group of V-shaped structures is towed collaboratively by two underwater vehicles, with one underwater vehicle connected to each side of the wide end of the V-shaped structure to achieve deployment. The narrow ends of the V-shaped structures converge at a single point, which can optionally be connected to the end stabilizer 5.

[0042] As an optional embodiment, such as Figure 3 As shown, the flexible carrier 4 is arranged in a circular, ring, or polygonal closed loop under the towing of the underwater vehicle 2.

[0043] In a preferred embodiment, the number of underwater vehicles is three or more. When three underwater vehicles are specifically configured, they are a first vehicle, a second vehicle, and a third vehicle. The angle between the first and second vehicles is 90 degrees, the angle between the second and third vehicles is 90 degrees, and the angle between the third and first vehicles is 180 degrees. The number of terminal stabilizers 5 is one or more, and the terminal stabilizer 5 is positioned between the first and third vehicles, with the angle between the terminal stabilizer 5 and the first vehicle being 90 degrees.

[0044] The flexible carrier 4, under the towing action of the underwater vehicle 2, is arranged in a circular, annular, or polygonal closed loop, forming a centripetal focusing configuration. In this configuration, the underwater vehicle 2 tows around the high-intensity target ice zone in a circular or polygonal closed loop. The closed configuration is designed to induce a violent nonlinear Mach focusing of the explosive shock wave towards the geometric center, thereby generating a central peak overpressure that is amplified geometrically, specifically for the directional destruction of solidified thick ice ridges in the deep sea.

[0045] Circular, annular, or polygonal closed-loop arrangements are used to form a centripetal focusing layout. The core of this circular layout is to achieve Mach focusing, which can be achieved by simultaneously detonating the energetic ice-breaking units 6. When facing extremely hard ice layers 8, the energetic ice-breaking units 6 can also be detonated with a microsecond-level delay by following a trajectory from the outer circle to the inner circle of the circular, annular, or polygonal layout. This first loosens the outer ice layer 8, and then the center of the circular, annular, or polygonal layout is detonated.

[0046] As an optional embodiment, such as Figure 4 As shown, the flexible carrier 4 is arranged in a rectangular shape under the towing of the underwater vehicle 2.

[0047] The flexible carrier 4 is arranged in a rectangular pattern under the towing of the underwater vehicle 2, specifically forming a rectangular grid pattern, i.e., a uniformly distributed planar waveform. Preferably, there are five underwater vehicles 2, which are towed in a straight line with strict parallel spacing. Three vehicles tow the first side of the rectangle, while one underwater vehicle tows each end of the second rectangular side, which is parallel to the first side. The middle portion of the second rectangular side is connected to several end stabilizers 5.

[0048] When the rectangularly arranged energetic icebreaking unit 6 detonates, it generates numerous evenly distributed spherical shock waves that converge upwards, fitting into a plane wave-like structure, thereby eliminating the energy loading blind zone. This implementation method is suitable for the uniform and large-area breaking of ice in ports or vast flat areas, and can effectively reduce the final ice fragment size.

[0049] A rectangular grid layout is used to create a uniformly distributed planar waveform. With this rectangular grid layout, either synchronous detonation of the energetic icebreaking units 6 or sequential delayed detonation can be selected. Synchronous detonation is configured to generate a large peak vibration; sequential delayed detonation, starting with the first row of energetic icebreaking units 6 in the rectangular grid array closest to the ship 1, detonates sequentially in the direction away from the ship 1. This detonation method can generate a directional, forward-propagating icebreaking surge while effectively controlling the size distribution of the broken ice, thereby preventing secondary freezing of the ice fragments.

[0050] As an optional embodiment, such as Figure 5 and Figure 6 As shown, the flexible carrier 4 is arranged in a triangular or stepped shape under the towing of the underwater vehicle 2.

[0051] The flexible carrier 4 is deployed in a triangular or stepped shape under the towing of the underwater vehicle 2, forming a directional shear-type layout. The underwater vehicle 2 is deployed along a diagonal or stepped trajectory. Combined with delayed detonation control, in this deployment configuration, when the energetic ice-breaking unit 6 detonates, it induces cross-shear stress waves within the ice layer 8, driving the falling ice fragments to undergo a secondary violent collision underwater, thereby further pulverizing the ice.

[0052] Figure 5 The icebreaker is deployed in a triangular pattern, employing a sequential delayed detonation sequence in either a triangular or stepped configuration. The energetic icebreaking units 6 are arranged in a triangular array, with the following detonation sequence: the first detonation begins at the apex of the triangle corresponding to the towing direction, creating a locally fractured free surface within the intact ice sheet; subsequently, the remaining energetic icebreaking units 6 are detonated sequentially along the triangular array towards the base of the triangle. The delayed-induced stress wave continuously shears and pushes the ice layer 8 towards the existing free surface, thereby achieving efficient energy utilization and forming a gradually widening channel that closely matches the bow hull of the icebreaker.

[0053] Figure 6The deployment is arranged in a stepped pattern. Viewed from directly above a horizontal plane, the overall outline of the array resembles an approximately isosceles trapezoid or an inverted step-like structure that gradually recedes. Specifically, the stepped array has a short, flush front boundary, which forms the upper base of the trapezoid, facing the direction of the ship's movement, i.e., the ice-facing side. Simultaneously, the array also has a wider rear baseline boundary, which forms the lower base of the trapezoid, positioned closer to the icebreaker. The two side boundaries of the array are respectively symmetrically expanding outwards from front to back, either as diagonal lines or stepped zigzag lines, forming the two sides of the trapezoid.

[0054] It should be noted that delayed detonation is a necessary configuration for triangular or stepped layouts. If synchronous detonation is used, the shock waves will interfere with each other or even cancel each other out, thus failing to induce cross-shear stress waves with specific directions within ice layer 8.

[0055] As an optional implementation, the deployment pattern can be selected from triangular, stepped, rectangular, radial, circular, annular, or closed polygonal shapes based on characteristics such as the thickness of the target ice layer 8. Each deployment pattern corresponds to a different number of vehicles. Based on the judgment result, flexible linear carriers with different topologies or deployment patterns are released, and the underwater vehicles are towed and deployed into the set geometric topology using the cluster cooperative trajectory control. The above topologies correspond to different detonation control strategies, specifically including simultaneous or delayed detonation of the energetic icebreaking units 6 on the flexible carrier 4, to adapt to different icebreaking scenarios. This achieves targeted and precise matching between the spatial distribution structure of the explosion energy field and the resistance characteristics of the ice body, thereby significantly improving the icebreaking capability of this embodiment under ice layers 8 of different thicknesses.

[0056] As an optional embodiment, it also includes an end stabilizer 5, which is connected to the flexible carrier 4.

[0057] The end stabilizer 5 can be a rectangular spring with a rust-proof surface treatment. Specifically, the rectangular spring is a spring with a rectangular cross-section, or other structures that ensure elasticity in cold environments. Compared to conventional round springs, rectangular springs have advantages such as higher stiffness, better bending resistance, longer service life, and better vibration damping. Its working principle is to absorb the disturbance caused by water flow on the flexible carrier 4 through the deformation of the rectangular spring. The end stabilizer 5 can also adopt a mechanical linkage stabilization structure; for details, please refer to Chinese patent document CN120397210A.

[0058] As an optional embodiment, it also includes a detachable connection mechanism 3, through which the underwater vehicle 2 is connected to the flexible carrier 4.

[0059] The detachable connection mechanism 3 can employ an electromagnetic unlocking mechanism, the specific structure of which can be found in patent document CN114171282A. This mechanism contains a permanent magnet, an electromagnet, and a locking component that moves with the magnetic attraction component. In the towing state, the electromagnet is de-energized, and the magnetic attraction component is attracted to the outer shell by the magnetic force of the permanent magnet. At this time, the locking component locks the connection between the vehicle and the flexible carrier 4, relying on the permanent magnetic force to bear the towing load without consuming electrical energy.

[0060] As an optional embodiment, the energetic ice-breaking unit 6 has an attitude adjustment function underwater.

[0061] During the deployment of the flexible carrier 4, each energetic ice-breaking unit 6 monitors the distance between its underwater depth and the ice layer 8, and controls the micro propeller 13 to adjust the position and attitude of the energetic ice-breaking unit 6 to compensate for depth errors.

[0062] As an optional embodiment, such as Figure 7 As shown, the energetic ice-breaking unit 6 includes a waterproof shell 17, a power supply 18, a depth-fixing communication module 9, a buffer 10, an energetic material 11, a detonation device 12, and a micro propeller 13. The interior of the waterproof shell 17 forms a first inner cavity 14 and a second inner cavity 15. The buffer 10 is disposed in the first inner cavity 14, the depth-fixing communication module 9 is disposed on the buffer 10, the power supply 18 is connected to the depth-fixing communication module 9, the energetic material 11 and the detonation device 12 are disposed in the second inner cavity 15, the micro propeller 13 is disposed on the outer wall of the waterproof shell 17, and a pressure measuring hole 16 is provided on the waterproof shell 17.

[0063] The depth-keeping communication module 9 is used to monitor the depth of the energetic ice-breaking unit 6 in the water. The module employs a miniature ultrasonic sensor based on MEMS technology, combined with upward sonar to detect the current depth in real time. During operation, it actively emits sound waves and receives echoes from the lower surface of the ice layer 8. The vertical distance from the ice bottom is output by the round-trip time of the sound waves and the speed of sound in water. The depth-keeping communication module 9 controls the miniature propeller 13 to adjust its attitude, ensuring that the depth parameters of each energetic ice-breaking unit 6 remain rigidly consistent even in harsh conditions such as strong polar currents or extremely uneven ice bottoms. This fundamentally guarantees the consistency of the ice-breaking effect during multiple ice-breaking operations or large-scale array ice-breaking, significantly enhancing adaptability to complex polar environments.

[0064] The detonation device 12 is specifically a device capable of detonating the energetic material 11 at a set time. The detonation device 12 is controlled by a wireless communication signal to detonate the energetic material 11 at a set time. The energetic material 11 can be at least one of emulsion explosives, water-gel explosives, or compressed gas, and it can produce an explosive effect instantaneously. By selecting non-polluting energetic materials 11 such as emulsion explosives, water-gel explosives, or compressed gas, the entire icebreaking process achieves zero pollution residue, thereby maximizing the protection of the polar environment. Unlike traditional blasting methods that pollute the environment with explosive residue, this invention achieves pollution-free operation, meeting the high standards of polar environmental protection.

[0065] The buffer element 10 can be a buffer pad, and more specifically, the buffer pad is an elastomeric component, specifically made of rubber material; that is, the buffer element 10 can be a rubber pad. In practical applications, by setting this buffer pad or rubber pad, external impact forces can be effectively absorbed and mitigated, thereby playing a buffering and protective role.

[0066] There can be multiple micro propellers 13, and further, there are two micro propellers 13, which are set on both sides of the waterproof shell to adjust the attitude of the waterproof shell 17 in the water. The attitude specifically includes the depth in the water and the distance between the two energetic ice-breaking units 6.

[0067] The energetic ice-breaking unit 6 in this embodiment is equipped with a depth-fixed communication module 9 to monitor the suspension depth in water in real time. A miniature propeller 13 is respectively provided on both sides of the waterproof shell 17 of the energetic ice-breaking unit 6, and the two ends of the waterproof shell 17 are connected in series with the flexible carrier 4.

[0068] The depth-keeping communication module 9 is wirelessly or wiredly connected to the micro propeller 13, controlling the rotational speed of the micro propeller 13. The depth-keeping module determines whether the current position of the energetic ice-breaking unit 6 needs adjustment; if so, it activates the micro propeller 13 for adjustment. The micro propeller 13 adjusts the depth and attitude of the energetic ice-breaking unit 6 in the water. Through this dual control, the energetic ice-breaking unit 6 is precisely deployed, achieving the expected blasting effect. Unlike the random drift caused by traditional drop-type explosive deployment methods, this embodiment, through the underwater vehicle 2 and the attitude adjustment of the energetic ice-breaking unit 6, ensures that each energetic ice-breaking unit 6 is precisely located within the optimal blast distance range under the ice.

[0069] The energetic icebreaking unit 6 is deployed underwater via an underwater vehicle 2, and the detonation device 12 is controlled by wireless communication signals to detonate the energetic material 11 at a timed or delayed time, thus enabling personnel to work in a safe area throughout the process. Specifically, the wireless communication can use underwater acoustic communication or very low frequency electromagnetic waves with a frequency of 3-30kHz to transmit the detonation command, eliminating the need for a physical trigger wire and avoiding the difficulty of wiring under the ice layer 8.

[0070] As an optional embodiment, the ratio of the physical distance between adjacent energetic ice-breaking units 6 on the flexible carrier 4 to the maximum bubble radius generated by the equivalent explosion of a single energetic ice-breaking unit 6 is less than or equal to 2.7.

[0071] Physical spacing refers to the straight-line distance between the centers of the nearest energetic ice-breaking units 6 in any two spatial locations within the multi-morphic array plane deployed underwater. This distance must uniformly satisfy the condition that its ratio to the equivalent maximum bubble radius is less than or equal to 2.7 in the longitudinal and transverse directions of the grid configuration, as well as in the peripheral directions of the polygon configuration. Through the above constraints, isolated energy distribution can be avoided, ensuring the formation of continuous fracture zones.

[0072] In this embodiment, by controlling the ratio between the distance between two adjacent ice-breaking units on the flexible carrier and the maximum bubble radius generated by a single explosion, the superposition and enhancement effect of the shock wave (i.e., the Mach rod effect) can be stably induced, thereby forming a high-intensity resultant impact field and efficiently converging the explosion energy. Simultaneously, by combining the attitude adjustment of the energetic ice-breaking units underwater, their suspended attitude position is changed in real time, maximizing the physical interference and energy superposition effect of each explosion point within the predetermined ice layer region. Through the above methods, this invention can precisely control the explosion energy in complex underwater environments, thereby significantly improving the efficiency of explosion work and the energy utilization rate during ice breaking.

[0073] In this embodiment, by employing multiple underwater vehicles to deploy the energetic icebreaking unit and a detachable connection mechanism, combined with highly penetrating 18.2kHz very low frequency wireless detonation communication, complete physical isolation between the explosive energy carrier and the personnel is achieved during blasting operations. This cableless design fundamentally eliminates the risk of misfires caused by traditional detonating cables being severed by floating ice in complex ice conditions, thereby significantly improving the overall safety and system reliability of polar icebreaking operations.

[0074] The present invention also discloses an icebreaking method utilizing any of the above-mentioned underwater multi-shape flexible systems, characterized by comprising the following steps: Step S1: Pre-detect the ice layer using sonar or radar to obtain information on ice condition categories.

[0075] Step S2: Select flexible carriers of different shapes based on ice condition information.

[0076] Lowering the container: The vessel is positioned at the edge of the ice zone, and the stern winch is used to lower the container carrying the underwater vehicle with different topological shapes to the predetermined water depth.

[0077] As an optional embodiment, the underwater vehicle first senses and judges the ice condition category of the target ice area before launching. Based on the judgment result, it selects flexible carriers with different deployment or topological shapes according to preset selection rules. Each deployment or topological shape of the flexible carrier corresponds to a different shape of mesh structure, and each flexible carrier is configured with a corresponding number of underwater vehicles. That is, based on the determined ice condition category, it is decided to release flexible carriers with different geometric topological shapes or deployment patterns, and simultaneously determine the number of underwater vehicles participating in the towing operation. Through the above method, the coordinated matching of ice condition judgment, flexible carrier selection, and vehicle quantity configuration is achieved.

[0078] Step S3: The flexible carrier is towed by an underwater vehicle to unfold it into a preset geometric topology underwater.

[0079] As an optional embodiment, based on the ice condition category pre-detected by sonar or radar, an underwater vehicle corresponding to a flexible carrier with different topological or deployment configurations can be selected and driven out of the container along a preset trajectory. This overcomes water flow resistance, causing the flexible carrier to unfold into the preset configuration. Simultaneously, the end-effector maintains the rigidity of the flexible carrier's attitude. During the deployment of the flexible carrier, each energetic ice-breaking unit continuously senses its underwater depth and distance from the ice layer through a depth-keeping module, and controls the micro-propellers to adjust the position of the energetic ice-breaking unit to compensate for depth errors.

[0080] Step S4: The underwater vehicle detaches from the flexible carrier and detonates each energetic ice-breaking unit, generating superimposed shock waves to break the ice layer.

[0081] In this invention, communication between the underwater vehicle and the ship uses very low frequency (VLF) radio electromagnetic waves in the 3-30kHz frequency band as the signal carrier. Preferably, the ship emits VLF electromagnetic waves at a frequency of 18.2kHz through underwater communication equipment. This signal can penetrate the dual medium of ice and water with zero loss. After being reliably received by the underwater vehicle, the detachable mechanism unlocks instantly, and the vehicle then autonomously returns and is retrieved into the container, where it is then pulled out of the water by a winch.

[0082] After the personnel confirm that the site is safe, the vessel again sends a wireless detonation code to the energetic icebreaking units placed under the ice via a very low frequency (VLF) signal. Each energetic icebreaking unit detonates according to a preset timing sequence. The resulting explosive shockwaves, under strict spacing control, superimpose and interfere, effectively breaking down the upper ice structure. The vessel then accelerates its ice-pushing operation. The aforementioned VLF channel is not only used to transmit separation commands between the energetic icebreaking units and the separable mechanism, but also serves as the communication medium for detonating the energetic icebreaking units to achieve synchronous or delayed detonation. Through this cableless coordinated detonation mechanism, this invention achieves a highly safe "drop-and-go" operation mode, significantly reducing the operational risks and system complexity of polar icebreaking operations.

[0083] As an optional embodiment, step S3 specifically includes one of the following methods: Method 1: Control the underwater vehicle to start from the same starting point on the container and tow the flexible carrier forward at a preset angle, so that the flexible carrier unfolds into a V shape.

[0084] The V-shaped deployment is a wide-area, divergent deployment method: at least two underwater vehicles depart from the same predetermined point or area on the hull and extend to opposite sides, forming a predetermined angle between them, ranging from 0 to 90 degrees; thus creating a V-shaped radial towed arrangement. This V-shaped deployment is particularly suitable for rapid channel opening operations in medium-thickness ice. In this configuration, the energy-bearing icebreaking units near the apex of the V are relatively densely distributed, resulting in a more concentrated explosive energy acting on a unit area of ​​the ice, which is beneficial for achieving efficient initial ice breaking.

[0085] As an optional implementation, the V-shaped structure can be configured as one, two, or more groups. Each group of V-shaped structures radiates outward from the same center point. Each group of V-shaped structures is towed collaboratively by two underwater vehicles, with one underwater vehicle connected to each side of the wide end of the water V-shaped structure to achieve deployment. The narrow ends of the V-shaped structures converge at a single point, which can optionally be connected to an end stabilizer.

[0086] Method 2: Control the underwater vehicle to tow it in a circular, ring-shaped, or polygonal manner around the target ice area.

[0087] In a preferred embodiment, the number of underwater vehicles is three or more. When three underwater vehicles are specifically configured, they are designated as a first vehicle, a second vehicle, and a third vehicle. The angle between the first and second vehicles is 90 degrees, the angle between the second and third vehicles is 90 degrees, and the angle between the third and first vehicles is 180 degrees. The number of terminal stabilizers is one or more, and the terminal stabilizer is positioned between the first and third vehicles, with the angle between the terminal stabilizer and the first vehicle being 90 degrees.

[0088] Under the towing force of the underwater vehicle, the flexible carrier is arranged in a circular, annular, or polygonal closed loop, forming a centripetal focusing configuration. In this configuration, the underwater vehicle is towed in a circular or polygonal closed loop around a high-intensity target ice zone. The closed configuration is designed to induce a violent nonlinear Mach focusing of the explosive shock wave toward the geometric center, thereby generating a central peak overpressure that is amplified geometrically, specifically for the targeted destruction of solidified thick ice ridges in the deep sea.

[0089] Circular, annular, or polygonal closed-loop arrangements are used to form a centripetal focusing layout. The core of this layout is to achieve Mach focusing, which can be achieved by simultaneously detonating the energetic ice-breaking units. When facing extremely hard ice layers, a microsecond-level delay can be used to detonate the energetic ice-breaking units from the outer circle, annular, or polygonal circle inwards, first loosening the outer ice layer, and then detonating the center of the circular, annular, or polygonal layout.

[0090] Method 3: Control the underwater vehicle to maintain a parallel distance and tow the flexible carrier in a straight line, so that the flexible carrier unfolds into a rectangle.

[0091] The flexible carriers are arranged in a rectangular pattern under the towing of the underwater vehicles, forming a rectangular grid pattern, i.e., a uniformly distributed planar waveform. Preferably, there are five underwater vehicles, which are towed in a straight line with strict parallel spacing. Three vehicles tow the first side of the rectangle, while one underwater vehicle tows each end of the second rectangular side, which is parallel to the first side. The middle portion of the second rectangular side is connected to several end-stabilizing components.

[0092] When the rectangularly arranged energetic icebreaking units detonate, they generate numerous evenly distributed spherical shock waves that converge upwards, fitting into a plane wave-like pattern, thereby eliminating the energy loading blind zone. This implementation method is suitable for the uniform, large-area breaking of ice in ports or vast, flat areas, and can effectively reduce the final ice fragment size.

[0093] A rectangular grid layout is used to create a uniformly distributed planar waveform. With this rectangular grid layout, either simultaneous detonation of the energetic icebreaking units or sequential, delayed detonation of each row can be selected. Simultaneous detonation is configured to generate a large peak vibration; sequential, delayed detonation is used, starting with the first row of energetic icebreaking units in the rectangular grid array closest to the ship, and proceeding sequentially away from the ship. This detonation method can generate a directional, forward-propagating icebreaking surge while effectively controlling the size distribution of the broken ice, thereby preventing secondary freezing of the ice fragments.

[0094] Method 4: Control the underwater vehicle to drag the flexible carrier along a diagonal or stepped trajectory, causing the flexible carrier to unfold into a triangle or stepped shape.

[0095] The flexible carriers are deployed in a triangular or stepped shape under the towing of the underwater vehicle, forming a directional shear-type layout. The underwater vehicle is deployed along a diagonal or stepped trajectory. Combined with delayed detonation control, in this deployment configuration, when the energetic ice-breaking unit detonates, it induces cross-shear stress waves within the ice layer, driving the falling ice fragments to undergo a secondary violent collision underwater, thereby further pulverizing the ice.

[0096] In a triangular or stepped deployment pattern, a sequential delayed detonation sequence is employed. The energetic icebreaking units are arranged in a triangular array, with the following detonation sequence: the first detonation begins with the energetic icebreaking unit at the apex of the triangle corresponding to the towing direction, creating a locally fractured free surface within the intact ice sheet; subsequently, the remaining energetic icebreaking units are detonated sequentially along the triangular array towards the base of the triangle. The delayed-induced stress wave continuously shears and pushes the ice layer towards the existing free surface, thereby achieving efficient energy utilization and forming a gradually widening channel that closely matches the ship's bow hull shape.

[0097] After completing the above stepped / trapezoidal layout, the system initiates a preset delayed detonation procedure, which includes the following steps: First, the transverse node group located at the top of the trapezoid, i.e. the frontmost step, performs synchronous detonation, forming an initial transverse fracture zone with a preset width in the intact ice layer. This fracture zone serves as the free surface for subsequent blasting. Then, along the waistline on both sides of the trapezoid or the stepped steps that recede sequentially on both sides, each node is detonated in sequence from front to back with a millisecond delay. By employing the aforementioned stepped energy release sequence of "breaking the ice head first, then expanding the ice on both sides," a cross-shear stress field pointing towards the central channel is precisely induced within the ice layer. This stress field effectively ensures the set width of the opened channel while maximizing the crushing of residual ice on both sides of the channel, thereby reducing the resistance of ship icebreaking and improving the efficiency of continuous operations.

[0098] As an optional embodiment, for methods one, two, three and four, the detonation of each energetic ice-breaking unit in step S4 specifically includes: detonating each energetic ice-breaking unit arranged on the flexible carrier using a timed detonation method or a delayed detonation method.

[0099] As an optional embodiment, for method four, the detonation of each energetic ice-breaking unit in step S4 specifically includes: using a delayed detonation method, sequentially detonating each energetic ice-breaking unit arranged on the flexible carrier in the direction from the tip to the base of the triangle, or in the direction from the narrow end to the wide end of the stepped shape.

[0100] Delayed detonation is essential in triangular or stepped configurations. If synchronous detonation is used, the shock waves will interfere with or even cancel each other out, making it impossible to induce cross-shear stress waves with specific directions within the ice layer.

[0101] As an optional embodiment, the distance by which the underwater vehicle tows the flexible carrier and suspends it on the lower surface of the ice layer is 0.8 to 1.3 times the radius of the equivalent energetic charge sphere.

[0102] The "equivalent energetic charge sphere radius" is defined as follows: when the energetic material inside the energetic ice-breaking unit is equivalent to a sphere, the radius of this equivalent sphere is the equivalent energetic charge sphere radius. It should be noted that in the field of explosion mechanics, for non-spherical energetic materials (i.e., non-spherical explosive charges), for ease of theoretical calculation and engineering analysis, they are usually simplified to a spherical explosive charge with an equivalent explosive effect, and the radius of this equivalent spherical explosive charge is used as its charge radius.

[0103] Each energetic ice-breaking unit is automatically adjusted via a micro-propeller, and each unit is precisely suspended below the ice layer at the optimal detonation distance. The optimal detonation distance refers to the optimal vertical distance between the energetic ice-breaking unit and the lower surface of the ice layer. When the detonation distance is controlled within the range of 0.8 to 1.3 times the radius of the equivalent energetic charge sphere, the shock wave can act on the bottom of the ice layer with the most concentrated energy density, producing the maximum bending and tensile damage effect, thereby maximizing the single-point ice-breaking radius.

[0104] In this embodiment, a flexible carrier carrying energetic icebreaking units is deployed underwater into a predetermined specific geometric topology through the coordinated towing of multiple underwater vehicles to adapt to the needs of breaking up polar ice layers of varying intensities and scales. This embodiment further limits the ratio of the physical distance between adjacent energetic icebreaking units to the equivalent maximum bubble radius to be less than or equal to 2.7. Simultaneously, attitude adjustments are made using the micro-propellers configured on the energetic icebreaking units, positioning them on the flexible carrier within a detonation distance range of 0.8 to 1.3 times the equivalent radius of the energetic charge sphere from the bottom of the ice layer. Through the combined limitation of these spatial parameters, it is ensured that the shock waves generated by the multi-point explosion can achieve complete superposition interference and form a coupling enhancement effect with the bubble jet, thereby significantly improving icebreaking efficiency.

[0105] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. An underwater multi-shape flexible system, characterized in that, It includes a flexible carrier and an energetic ice-breaking unit. The flexible carrier is equipped with several energetic ice-breaking units. The flexible carrier has a mesh structure and unfolds into a preset geometric topology under the cooperative towing of the underwater vehicle.

2. The underwater multi-shape flexible system as described in claim 1, characterized in that, The flexible carrier is deployed radially under the towing of the underwater vehicle.

3. The underwater multi-shape flexible system as described in claim 2, characterized in that, The radial arrangement is either fan-shaped or V-shaped.

4. The underwater multi-shape flexible system as described in claim 1, characterized in that, The flexible carrier is arranged in a circular, annular, or polygonal closed loop under the towing of the underwater vehicle.

5. The underwater multi-shape flexible system as described in claim 1, characterized in that, The flexible carrier is arranged in a rectangular shape under the towing of the underwater vehicle.

6. The underwater multi-shape flexible system as described in claim 1, characterized in that, The flexible carrier is arranged in a triangular or stepped shape under the towing of the underwater vehicle.

7. An underwater multi-shape flexible system as described in any one of claims 1-6, characterized in that, The energy-containing ice-breaking unit has attitude adjustment capabilities underwater.

8. The underwater multi-shape flexible system as described in claim 7, characterized in that, The energetic ice-breaking unit includes a waterproof shell, a power supply, a depth-fixing communication module, a buffer, an energetic material, a detonation device, and a micro propeller. The interior of the waterproof shell forms a first inner cavity and a second inner cavity. The buffer is disposed in the first inner cavity, the depth-fixing communication module is disposed on the buffer, the power supply is connected to the depth-fixing communication module, the energetic material and the detonation device are disposed in the second inner cavity, the micro propeller is disposed on the outer wall of the waterproof shell, and a pressure measuring hole is provided on the waterproof shell.

9. An underwater multi-shape flexible system as described in any one of claims 1-6, characterized in that, It also includes an end stabilizer, which is connected to the flexible carrier.

10. An underwater multi-shape flexible system as described in any one of claims 1-6, characterized in that, It also includes a detachable connection mechanism through which the underwater vehicle is connected to the flexible carrier.

11. An underwater multi-shape flexible system as described in any one of claims 1-6, characterized in that, The ratio of the physical distance between adjacent energetic ice-breaking units on the flexible carrier to the maximum bubble radius generated by the equivalent explosion of a single energetic ice-breaking unit is less than or equal to 2.

7.

12. An icebreaking method utilizing an underwater multi-shape flexible system as described in any one of claims 1-6, characterized in that, Includes the following steps: Step S1: Pre-detect the ice layer using sonar or radar to obtain information on ice condition categories; Step S2: Based on the ice condition category information, select flexible carriers of different shapes. Step S3: The flexible carrier is towed by an underwater vehicle to unfold it into a preset geometric topology underwater; Step S4: The underwater vehicle detaches from the flexible carrier and detonates each energetic ice-breaking unit, generating superimposed shock waves to break the ice layer.

13. The ice-breaking method as described in claim 12, characterized in that, Step S3 specifically includes one of the following methods: Method 1: Several underwater vehicles start from the same starting point in the container and diverge forward at a preset angle, towing the flexible carrier so that the flexible carrier unfolds into a radial shape; Method 2: Several underwater vehicles are towed in a circular or polygonal closed loop around the target ice area. Method 3: Several underwater vehicles maintain parallel spacing and tow the flexible carrier in a straight line, causing the flexible carrier to unfold into a rectangle. Method 4: Several underwater vehicles drag the flexible carrier along a diagonal or stepped trajectory, causing the flexible carrier to unfold into a triangle or stepped shape.

14. The ice-breaking method as described in claim 13, characterized in that, For Method 1, Method 2 and Method 3, the detonation of each energetic ice-breaking unit in step S4 specifically includes: detonating each energetic ice-breaking unit arranged on the flexible carrier using a timed detonation method or a delayed detonation method.

15. The ice-breaking method as described in claim 13, characterized in that, Regarding the fourth method, the detonation of each energetic ice-breaking unit in step S4 specifically includes: using a delayed detonation method, sequentially detonating each energetic ice-breaking unit arranged on the flexible carrier in the direction from the tip to the bottom of the triangle, or in the direction from the narrow end to the wide end of the stepped shape.

16. The ice-breaking method as described in claim 13, characterized in that, The distance by which the underwater vehicle tows the flexible carrier and suspends it on the lower surface of the ice layer is 0.8 to 1.3 times the radius of the equivalent energetic charge sphere.

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