CN110053741B

CN110053741B - Ice hole distribution and recovery under-ice detection system based on capture ROV

Info

Publication number: CN110053741B
Application number: CN201910271308.2A
Authority: CN
Inventors: 彭时林; 蔡文郁; 于海滨; 史剑光; 刘敬彪
Original assignee: Hangzhou Dianzi University
Current assignee: Hangzhou Dianzi University
Priority date: 2019-04-04
Filing date: 2019-04-04
Publication date: 2021-03-05
Anticipated expiration: 2039-04-04
Also published as: CN110053741A

Abstract

An under-ice detection system suitable for ice hole distribution and recovery based on a trapping ROV can enter underwater through an ice hole with limited aperture, and comprises a bearing cable, a lifting cable and a releasing cable, wherein the bearing cable is used for being suspended in the ice hole to lift and release the under-ice detection system; the connection cabin is fixedly connected with a bearing cable driving the connection cabin to move and is used for capturing underwater retraction of the ROV and charging endurance and data communication of the underwater detection AUV; the ROV is captured and connected with the connection cabin to form a cylindrical integral structure which can move in ice holes with limited aperture, and the ROV can be separated from the connection cabin to collect water samples or sediments and detect AUV connection under ice when underwater; and the underwater detection AUV is used for detaching from the capture ROV to perform underwater detection or is fixed in the capture ROV in a connection mode, moves along with the capture ROV and is recovered to a connection cabin to perform charging endurance and data communication. The invention can not collide with the wall surface of the ice hole to damage parts, thereby improving the detection time and detection range of the system under ice and improving the detection efficiency.

Description

Ice hole distribution and recovery under-ice detection system based on capture ROV

Technical Field

The invention belongs to the field of ocean technology engineering, and relates to an under-ice detection system based on a capture ROV and suitable for ice hole arrangement and recovery.

Background

The two poles of the earth have ice floating areas and ice racks connecting the ocean and the polar ice cover. The detection and sampling of the ice environment, including the observation of the circulation of the ice ocean temperature salt, the detection of the ice ocean ecological environment, the sampling of the ice seawater and sediments and the like, are important means for researching the circulation of the ice ocean temperature salt and the interaction between the ice frame and the ocean, and have important scientific significance. At present, two main modes are used for detecting the environment under ice, firstly, the instrument equipment with a cable is placed in the ice through drilling holes in the ice surface, the instrument equipment distributed in the mode is limited to a very limited range under the ice detecting holes, and the large-range detection under ice cannot be carried out. The second is by an Autonomous Underwater Vehicle (AUV) which travels Underwater. In this way, the AUV is usually deployed and recovered in a large ice hole by cutting an ice layer, but the AUV has limited cruising ability, resulting in limited detection time and range, and in addition, a thin ice layer can be deployed in a manner of opening the ice hole, but for a thick ice layer, such as an ice shelf with the thickness of thousands of meters in the south of the world, the ice hole is usually drilled by a polar region hot water drilling machine, and the diameter of the opened ice hole is limited (in the order of 35 cm-80 cm), so that the AUV cannot be directly deployed and recovered in the deep and narrow ice hole.

Existing under-ice detection robots, such as the under-ice detection robot disclosed in patent No. 201710886568.1 and the under-ice detection robot disclosed in patent No. 201810313651.4, can only achieve under-ice detection by chiseling an ice layer and then placing and retrieving the ice layer in a large ice hole, and cannot directly place and retrieve an AUV in a deep and narrow ice hole.

Disclosure of Invention

The invention provides an under-ice detection system capable of being distributed and recovered in an ice hole with limited aperture, wherein an autonomous detection robot can also return to the vicinity of the bottom of the ice hole for butt charging and data transmission, so that the time and the range of under-ice detection are increased.

The technical scheme adopted by the invention is as follows:

the utility model provides an under ice detecting system suitable for ice hole cloth is put and is retrieved based on catch ROV, it can get into under water through the limited ice hole in aperture, its characterized in that: comprises that

The bearing cable is hung in the ice hole to lift and lower the under-ice detection system;

the docking bay is fixedly connected with a bearing cable which drives the docking bay to move, and is used for capturing underwater retraction of an ROV (remote Operated Vehicle) and charging endurance and data communication of an underwater detection AUV (autonomous underwater Vehicle);

the capture ROV is connected with the connection cabin to form a cylindrical integral structure which can move in ice holes with limited aperture, and can be separated from the connection cabin to collect water samples or sediments under water, and in addition, the capture ROV can actively capture and connect with an underwater detection AUV;

the underwater detection AUV is used for detaching from the capture ROV to perform underwater autonomous detection or is fixedly connected in the capture ROV and moved along with the capture ROV to be recovered to a connection cabin for charging endurance and data communication;

in the ice hole distribution or recovery process, the cable is completely recovered by the connection cabin, the capture ROV is coaxially attached to the connection cabin under the action of the cable, the under-ice detection AUV is locked and fixed by the connection cabin and the capture ROV, and the overall shape of the combined system is a cylindrical shape with steps. The invention has a cylindrical integral structure and cannot collide with the wall surface of the ice hole to damage parts. The underwater docking connection between the capture ROV and the underwater detection AUV can improve the detection time and detection range of the system under ice. The detection function between the capture ROV and the under-ice detection AUV is complementary, and the detection efficiency is improved.

Further, the connection cabin comprises a cylindrical shell, a control and separation cabin and a connection barrel are installed in the cylindrical shell, an electric core of the bearing cable is connected to the control and separation cabin, a winch driving motor is installed on the control and separation cabin, winch drums are installed on two sides of the winch driving motor, a zero-buoyancy main cable is wound on one winch drum, a cable of the control and separation cabin is connected to a winch slip ring, the electric core of the cable is connected with the zero-buoyancy main cable through the winch slip ring, a zero-buoyancy auxiliary cable is wound on the winch drum on the other side, and free ends of the zero-buoyancy main cable and the zero-buoyancy auxiliary cable are connected with the capture ROV;

and the periphery of the connection cylinder is sequentially provided with a position sensor for detecting whether the under-ice detection AUV completely enters the connection cylinder, a first locking device for locking and fixing the under-ice detection AUV after the under-ice detection AUV completely enters the connection cylinder, and a charging and communication device for charging endurance and data transmission of the under-ice detection AUV.

Further, install the fixed plate of fretwork in the cylindrical shell, control and the both sides at the fixed plate are fixed respectively with the separation chamber and the section of thick bamboo of plugging into, cylindrical shell all installs the guide pulley who is used for spacing and direction usefulness of corresponding zero buoyancy cable on the wall of every winch reel below, cylindrical shell's bottom is equipped with and is used for catching the butt joint location bell groove that the butt joint of ROV was used for.

Furthermore, the connection cylinder is a cylindrical guide cylinder, and the bottom of the connection cylinder is provided with a conical groove for limiting and buffering during AUV (autonomous Underwater vehicle) butt joint in under-ice detection.

Furthermore, the ROV catcher comprises a hollow ROV outer cylinder, a hollow circular rear cover plate is mounted at the rear end of the ROV outer cylinder, a plurality of backward propellers for driving the ROV to move underwater are uniformly mounted on the inner side of the rear cover plate, two hanging rings connected with the zero-buoyancy cable are mounted at the edge of the rear cover plate respectively, and a catcher cylinder for butt joint with the underwater detection AUV is fixed in the middle of the rear cover plate; an ROV control cabin and a second locking device are arranged around the periphery of the capturing cylinder, a main control circuit board and a propeller driving circuit board are installed in the ROV control cabin, and the propeller is connected with the propeller driving circuit board;

the inboard front position that is close to of ROV urceolus has radially arranged and is used for underwater location to survey AUV position and vision guide under ice and survey the foresight camera that AUV plugged into, the light that is used for providing good visual effect, the Ultrashort Baseline location (Ultrashort Baseline, USBL) transponder and the water sampler that a plurality of is used for gathering under ice water sample that underwater acoustic positioning or underwater acoustic communication when being used for surveying AUV under ice and returning a journey, foresight camera, light, Ultrashort Baseline location transponder and water sampler all with main control circuit board electric connection. All parts including the propeller of the ROV catching device are arranged inside the outer cylinder of the ROV catching device, the parts cannot be collided with the ice hole to damage the parts, the propeller in the outer cylinder of the ROV catching device is communicated with external water flow, the propelling efficiency is improved, and the ROV catching device also has the function of reducing the forward resistance of the ROV catching device.

Furthermore, a plurality of lateral thrusters are uniformly distributed on the inner wall of the ROV outer cylinder in the circumferential direction. The lateral thrusters arranged up and down control the floating and submerging of the trapping ROV, the lateral thrusters arranged left and right control the transverse movement of the trapping ROV, and the arrangement of the lateral thrusters can improve the maneuverability of the trapping ROV, so that the AUV can be trapped more flexibly.

Furthermore, big round holes have been seted up to the global position that is close to the rear side propeller of ROV urceolus, can make outside rivers can be fine communicate with the propeller, improve propulsion efficiency.

Furthermore, the outer opening of the connecting cylinder is connected with the front end opening of the ROV outer cylinder through a plurality of conical guide bars which are uniformly distributed along the radial spoke shape. The toper gib block plays the guide effect when surveying AUV under the ice and catching the butt joint of ROV, has the space between the toper gib block simultaneously, does not influence outside rivers and propeller intercommunication, also plays the effect that reduces and catches the ROV resistance of advancing.

Further, the illuminating lamps are arranged on two sides of the front-view camera, the water sampler is located on two sides of the ultra-short baseline positioning transponder, the front-view camera is located right above the inner side of the ROV outer barrel, and the ultra-short baseline positioning transponder is located right below the inner side of the ROV outer barrel.

Furthermore, the under-ice detection AUV is in a torpedo shape with a smooth shell, the tail of the under-ice detection AUV is provided with a vector thruster, and the maximum outer diameter of the vector thruster is smaller than the outer diameter of the shell of the under-ice detection AUV; the front end of the under-ice detection AUV is provided with a camera and an ultra-short baseline positioning (USBL) transceiver for underwater acoustic positioning communication; and the antenna for detecting the AUV under the ice is arranged in the cavity of the shell.

The invention has the beneficial effects that:

1. the whole shape of the under-ice detection system is cylindrical in the process of distributing or recovering the ice holes, and no convex part is arranged on the periphery of the under-ice detection system, so that the under-ice detection system is suitable for distributing and recovering the ice holes with limited aperture and cannot collide with the ice holes to damage the parts.

2. The under-ice detection system can utilize the trapping ROV to realize the functions which cannot be easily realized by the under-ice detection AUV, such as water sample collection and sediment sampling, and realize the complementation of the detection functions. Catch the ROV among the detection system under ice and can survey in the long within range of self cable, for example make a video recording, gather water sample etc. if the cable length allows to catch the ROV and reach the bottom, can also carry sediment sampler to take a sample to bottom sediment.

3. The capture ROV is provided with a front-view camera and can be used for actively capturing an underwater exploration AUV under visual guidance; the connection cabin is provided with a structure related to the connection of the underwater detection AUV and charging communication, so that the underwater detection time and detection range of the AUV can be prolonged, or the underwater detection AUV can be recovered.

4. All parts of the trapping ROV including the propeller are arranged inside the outer cylinder of the trapping ROV, so that the parts cannot be collided with the ice hole to damage the parts; big round hole has been dug respectively to the position that the ROV urceolus is close to the propeller to and the toper gib block is along radial similar spoke form's equipartition, and these structural feature make outside rivers and propeller intercommunication, improve propulsion efficiency, also play the effect that reduces and catch ROV resistance of advancing.

5. The trapping ROV is connected with the docking bay through two zero-buoyancy cables. In the process of cable collection, the hoisting ring at the tail part of the trapped ROV can completely enter the butt-joint positioning tapered groove by utilizing the positioning and guiding functions of the butt-joint positioning tapered groove, and the coaxial centering of the trapped ROV and the connection cabin is completed in the step. And then under the action of the tension of the completely withdrawn zero-buoyancy cable, the AUV is locked by the locking devices on the capturing ROV and the connection cabin at the same time, so that the capturing ROV and the connection cabin are coaxially and tightly attached together to form a cylindrical integral structure. The integral structure and the AUV locked in the integral structure are tightly and firmly combined with each other, and are suitable for being distributed and recovered in ice holes.

6. The detection time and the detection range of the system under ice are improved by utilizing a back-docking connection mode, and the connection is easier to realize by adopting a mode of capturing the ROV to actively capture the AUV under ice. The underwater detection AUV can be freely detected underwater after being released, when the battery is insufficient in electric quantity or the AUV needs to be recovered, the battery can return under the acoustic guidance of USBL (universal serial bus), then the butt joint of the ROV and the AUV is realized under the active capture of the ROV, and then under the action of synchronously receiving two zero-buoyancy cables in a connection cabin, the ROV and the connection cabin are combined into a whole, at the moment, the AUV continues to advance to enter the connection barrel, the charging endurance and data transmission are realized, the detection time and the detection range under the ice are further improved, or the recovery of the underwater detection AUV is realized. The mode of actively capturing the AUV by capturing the ROV can be that an operator remotely controls the ROV to capture the AUV, and compared with the conventional AUV autonomous return connection mode, the method is simpler and easier to realize. The invention adopts two zero-buoyancy cables to realize the combination of the trapping ROV and the connection cabin, so that the combination is more compact and firm. Placing the charging and communication functions on the docking bay rather than on the capturing ROV may reduce the length of the capturing ROV, thereby improving the maneuverability of the capturing ROV. In addition, a lateral propeller can be arranged on the capturing ROV, so that the maneuverability of the capturing ROV can be further improved.

Drawings

Fig. 1 is a schematic view showing a state in which the under-ice detecting system of the present invention is lowered in an ice hole.

Fig. 2 is a schematic view of the state of the capturing ROV of the present invention disengaged from the docking bay.

Fig. 3 is a rear view schematically illustrating the structure of the trapping ROV of the present invention.

Fig. 4 is a front view of the present invention capturing an ROV.

FIG. 5 is a schematic view of the deployment and recovery method of the present invention.

Fig. 6 is a schematic structural diagram of a second embodiment of the present invention.

Detailed Description

The present invention is further illustrated by the following examples, which are not intended to limit the invention to these embodiments. It will be appreciated by those skilled in the art that the present invention encompasses all alternatives, modifications and equivalents as may be included within the scope of the claims.

Example one

Referring to FIG. 1, the present embodiment provides an under-ice detection system suitable for ice hole distribution and recovery, which can enter under water 3 through ice holes 2 with limited aperture, including

The bearing cable 1 is hung in the ice hole 2 to lift and lower the under-ice detection system;

the docking bay 10 is fixedly connected with the bearing cable 1 which drives the docking bay to move, and is used for capturing underwater retraction of an ROV20(remote Operated Vehicle) and charging endurance and data communication of an underwater detection AUV (autonomous underwater Vehicle);

the capture ROV20 is connected with the docking bay 10 to form a cylindrical integral structure capable of moving in the ice hole 2 with limited aperture, and can be separated from the docking bay 10 to collect water samples or sediments under water 3, and can also actively capture and dock with the underwater detection AUV 50; when the cable is completely withdrawn by the connection cabin 10, the catching ROV20 is coaxially attached to the connection cabin 10 under the action of the cable, so that a cylindrical integral structure is formed.

The under-ice detection AUV50 is used for separating from the capture ROV20 for underwater detection when water is 3, or is connected in the capture ROV20 and moved along with the capture ROV20 to be recovered into the connection cabin 10 for charging endurance and data communication;

during the ice hole arrangement or recovery process, the cable is completely withdrawn by the connection cabin, the capture ROV20 is coaxially attached to the connection cabin 10 under the action of the cable, the under-ice detection AUV50 is also locked and fixed by the connection cabin 10 and the capture ROV20, and the overall shape of the combined system is a cylindrical shape with steps. The invention has a cylindrical integral structure and cannot collide with the wall surface of the ice hole to damage parts. The underwater docking connection between the capture ROV20 and the underwater detection AUV50 can improve the detection time and detection range of the system under ice. The detection functions of the capture ROV20 and the under-ice detection AUV50 are complementary, and the detection efficiency is improved.

Referring to fig. 2, the docking bay 20 of the present embodiment includes a cylindrical housing 120, a control and separation bay 108 and a docking drum 112 are installed in the cylindrical housing 120, the bearing cable 1 enters through a through hole provided in the center of the upper portion of the docking bay 20 and is connected to the control and separation bay 108, the control and separation bay 108 outputs power supply and signal lines as a whole cable to be connected to the winch slip ring 102, and the electric core on the cable is connected to the zero-buoyancy main cable 104 wound on the winch drum 101 through the winch slip ring 102. The winch slip ring 102 is fixed with a winch drum 101, and the winch drum 101 is connected to a winch driving motor 103 and driven by the winch driving motor 103 to rotate for winding or unwinding cables. On the other side of the winch drive motor 103, a winch drum 101 is also fixed, which winch drum 101 is wound with a zero-buoyancy secondary cable 105. The zero-buoyancy secondary cable 105 has the same specification as the zero-buoyancy main cable 104, and is different from the zero-buoyancy main cable in that the electric core inside the zero-buoyancy secondary cable 105 is not electrically connected with other parts, i.e., the zero-buoyancy secondary cable only plays the role of a cable and has no function of transmitting electric energy and signals. The winch driving motor 103 simultaneously drives the two winch drums 101 to synchronously rotate, so that the cable arrangement and synchronous retraction functions of the zero-buoyancy main cable 104 and the zero-buoyancy auxiliary cable 105 are realized. The cylindrical housing 120 is provided with guide pulleys 109 at positions below the two winch drums 101 and close to the side wall of the chamber, respectively, for limiting and guiding the zero-buoyancy main cable 104 and the zero-buoyancy auxiliary cable 105. After passing through the guide pulley 109, the two zero-buoyancy cables pass through two butt-joint positioning tapered grooves 114 arranged near the edge below the docking bay 20 and are connected with two lifting rings 204 at the tail of the capturing ROV 20. When the cable is completely withdrawn by the docking bay 10, the two lifting rings 204 at the tail of the ROV20 are caught near the docking positioning tapered groove 114, at this time, the winch continues to withdraw the cable, the lifting rings 204 can completely enter the docking positioning tapered groove 114 by using the positioning and guiding effects of the docking positioning tapered groove 114, and then the winch stops rotating to complete the cable withdrawal process. At this time, the capturing ROV20 is coaxially attached to the docking bay 10 under the action of the cable, and is combined into a cylindrical integral structure without any protruding parts on the periphery. The winch driving motor 103 is fixed on the control and separation cabin 108, and the control and separation cabin 108 is fixed in the center of the hollowed-out fixing plate 107. The fixed plate 107 is mounted inside the docking bay 10. A connection cylinder 112 is installed in the front center of the fixing plate 107, the connection cylinder 112 is a cylindrical guide cylinder for entering after the underwater detection AUV50 is in butt joint, and a tapered groove is formed in the bottom of the connection cylinder and used for limiting and buffering in the underwater detection AUV butt joint process. Along the exterior of the docking cradle 112, there are mounted in sequence a position sensor 110, a first locking device 111, a charging and communication device 113. The position sensor 110 is preferably an inductive proximity switch or a hall sensor for detecting whether the under-ice detection AUV50 has fully entered the docking pod. When the under-ice detection AUV50 completely enters the docking barrel 112, that is, the head of the under-ice detection AUV50 touches the tapered groove at the bottom of the docking barrel 112, the head of the under-ice detection AUV50 also touches the position sensor 110 at the same time, and the position sensor 110 is triggered. The first locking device 111 is annularly arranged outside the docking drum 112 and used for locking and fixing the under-ice detection AUV50 after the under-ice detection AUV50 completely enters the docking drum 112. The locking device preferably adopts a three-jaw chuck type or a mode that two chucks are clamped oppositely, so that the underwater detection AUV50 can be kept fixed without eccentricity, and the first locking device 111 is preferably driven by electromagnetism or a motor. The charging and communication device 113 charges the under-ice detection AUV50 in a non-contact electric energy transmission mode based on magnetic field coupling, and the signal transmission between the docking bay 10 and the under-ice detection AUV50 preferentially adopts short-distance communication based on WiFi. The outer opening of the docking cradle 112 is conical, which can play a guiding role when detecting AUV50 entering the docking cradle under ice. The non-contact power transmission mode of the embodiment can be non-contact power transmission based on magnetic field coupling. In the manufacturing process of the zero-buoyancy cable in the embodiment, the overall density of the cable is the same as that of seawater by adjusting the thickness and density of the foaming layer, and the cable does not sink or float and reduces the influence on equipment operation. The material composition is as follows: insulation: preventing seawater from mixing raw materials; tensile structure: polyester yarn fiber/high-strength tensile Kevlar drawing; an inner sheath: the modified low-viscosity strong extrusion inner sheath can be customized; a shielding layer: the tin-plated copper mesh is woven and shielded, the density is more than 80%, and the aluminum foil is wrapped, the density is 100% (optional); wrapping materials: non-woven fabrics; outer sheath: seawater-proof polyurethane zero-buoyancy foaming material.

In this embodiment, the capturing ROV20 is a hollow cylindrical structure, and the capturing cylinder 207 through which the under-ice detection AUV50 can pass is docked with the docking bay 10. In catching ROV20, two zero buoyancy cables are connected with two rings 204 respectively, and rings 204 are fixed in the border position of back shroud 203, and back shroud 203 is the ring shape of fretwork, and ring hole diameter is unanimous with a section of thick bamboo 207 of catching ROV for the under ice surveys AUV and can pass the back and dock with the cabin 10 of plugging into, in addition, is equipped with the hole of fretwork on the anchor ring of back shroud 203, and the purpose makes rivers can pass through better, promotes hydrodynamic force performance. The rear cover plate 203 is fixedly connected with the ROV outer cylinder 201 through threads, and the ROV outer cylinder 201 is composed of a metal cylinder and a buoyancy material coated on the outer side. A hollow cylindrical catching cylinder 207 is fixed at the center of the rear cover plate 203, and is a cylindrical cylinder into which the under-ice detection AUV50 and the under-ice detection AUV50 enter after being caught by the catching ROV 20. The outer opening of the catching cylinder 207 is connected with the conical guide bar 210, and the other end of the conical guide bar 210 is connected with the front end opening of the ROV outer cylinder 201, as shown in FIG. 4, the conical guide bars 210 are uniformly distributed along the radial direction like a spoke, so that the guiding effect is achieved when the catching ROV20 catches the ice and detects AUV50, and meanwhile, because the catching ROV is hollow, the communication between the outer water flow and the propeller is not affected, and the effect of reducing the forward resistance of the catching ROV20 is also achieved. 4 backward propellers 205 (shown in fig. 3) are uniformly fixed on the rear cover plate 203 along the inside of the ROV outer cylinder 201, and the forward, backward, pitch and yaw movement of the capture ROV20 can be realized by controlling the rotating speed and the steering direction of the 4 backward propellers 205, so that the movement of the capture ROV20 under water can be controlled. In the embodiment, 4 lateral thrusters 206 are uniformly arranged at the middle position of the ROV outer cylinder 201 along the upper, lower, left and right of the circumference, 2 lateral thrusters 206 arranged up and down control the floating and submerging of the catching ROV20, and 2 lateral thrusters 206 arranged left and right control the transverse movement of the catching ROV 20. The lateral thruster 206 arrangement may improve the maneuverability of the capturing ROV20, thereby enabling more flexible capture of the AUV. Along the exterior of the catch pot 207, in turn, is mounted an ROV control pod 202 and a second locking device 208. The ROV control cabin 202 is an annular pressure-resistant sealed cabin, and is internally provided with a propeller driving circuit board, a main control circuit board for capturing the ROV20 and other electronic circuits, the propeller driving circuit board is electrically connected with the main control circuit board, and the backward propeller 205 is connected with the propeller driving circuit board. The locking device is annularly arranged outside the catching cylinder and used for catching and locking the AUV after the AUV is caught by the ROV. The locking device preferably adopts a three-jaw chuck type or a mode that two chucks are clamped relatively, so that the AUV can be kept fixed without eccentricity, and the locking device is driven by electromagnetism or a motor.

As shown in fig. 2 and 4, a front view camera 209, an illuminating lamp 214, an ultra short Baseline positioning (USBL) transponder 211, and a water sampler 213 are radially disposed inside the ROV outer cylinder 201 near the front end. The front view camera 209 is located right above, and the illumination lamps 214 may be disposed on the left and right sides thereof, respectively, as required. The USBL transponder is located right below and used for underwater sound positioning when the under-ice detection AUV50 returns, and meanwhile, the USBL transponder has an underwater sound communication function and can realize mutual underwater sound communication between the capture ROV20 and the under-ice detection AUV 50. Water collectors 213 are respectively arranged on two sides of the USBL responder and used for collecting water samples under ice, and a plurality of water collectors can be arranged along the radial direction according to actual needs. The front-view camera, the illuminating lamp, the ultra-short baseline positioning transponder and the water sampler are electrically connected with the main control circuit board. Specifically, the USBL responder is connected with the main control circuit board through an RS-232 serial port; the illuminating lamp and the water sampler are connected with the main control circuit board through the RS-485 serial bus, and the main control circuit board can control the on-off of the illuminating lamp and adjust the brightness through the RS-485 serial bus, so that the water sampler can be triggered to sample; the main control circuit board is connected with the front-view camera through an Ethernet interface or a USB interface.

The under-ice detection AUV50 is torpedo-shaped and is not provided with an operation control rudder exposed outside an AUV shell, the maximum outer diameter of a propeller at the tail part is smaller than the outer diameter of the AUV shell, and the propeller at the tail part is a vector propeller, namely, the propeller can swing, so that the pitching and the heading of the AUV are controlled while the AUV is propelled. The front end of the under-ice detection AUV is provided with a camera and a USBL transceiver for underwater acoustic positioning communication. The under-ice detection AUV is not provided with an antenna and other accessories which are exposed outside the AUV shell, and the AUV antenna is arranged inside the cavity.

As shown in fig. 5, the deployment and recovery method of the present invention comprises:

(1) drilling holes on an ice shelf or thick ice by adopting technical means such as an ice shelf hot water drilling machine and the like to obtain ice holes 2 leading ice water from an ice surface.

(2) And erecting a winch bracket on the upper part of the ice hole 2, hoisting the under-ice detection system by using an ice surface winch, and gradually releasing the bearing cable 1 by using the ice surface winch to enable the under-ice detection system to be placed down along the ice hole 2. At this time, the zero-buoyancy cable in the docking bay 10 is in a fully retracted state, the capturing ROV20 and the locking device on the docking bay 10 are both opened, and the under-ice detection AUV50 is completely fixed. Under the action of the tension of the completely withdrawn zero-buoyancy cable, the capture ROV20 and the locking device on the docking bay 10 simultaneously lock the underwater exploration AUV50, and the capture ROV20 and the docking bay 10 are coaxially and tightly attached together to form a cylindrical integral structure.

(3) The ice winch stops lowering while the ROV20 to be captured is submerged and the docking bay 10 is still in the ice hole. The purpose of leaving the docking bay 10 in the ice hole 2 is to utilize the ice hole to limit the ice hole, so that the ice hole does not swing transversely along with the water flow, thereby stabilizing the source of the zero-buoyancy cable, being more beneficial to capturing the motion control of the ROV20 under water, and being also beneficial to recovering the whole under-ice detection system.

(4) The locking devices in both the docking bay 10 and the captive ROV20 are released and the pusher of the AUV50 is detected to be inverted under ice. Under reverse thrust, the under-ice detection AUV50 disengages from the catch ROV20, and is free to detect under water. Meanwhile, the docking bay 10 starts to release the zero-buoyancy cable, so that the capturing ROV20 is submerged, and the camera shooting and water sampling can be performed within the length range of the zero-buoyancy cable.

(5) When the under-ice detection AUV50 is low in battery or needs to be recovered, the under-ice detection AUV50 is positioned by the ultra-short baseline USBL to its own position relative to the capture ROV20 and establishes underwater acoustic communication with the capture ROV20, and the under-ice detection AUV50 is guided by the USBL back to the vicinity of the capture ROV 20.

(6) The catch ROV20 receives the signal that the under-ice detection AUV50 returns to the vicinity, turns on the illumination lamp 214 according to the situation, positions the under-ice detection AUV50 through the front view camera 209, and the catch ROV20 actively approaches the under-ice detection AUV 50. Then, active movement of the catch ROV20 causes the under-ice detection AUV50 to enter its own catch cartridge 207. The process of actively searching for the capture under-ice detection AUV50 by the capture ROV20 may be that the capture ROV20 actively and intelligently captures the under-ice detection AUV50 by using visual and underwater sound positioning information, or that the operator captures the under-ice detection AUV50 by remotely controlling the capture ROV 20. The manner in which the operator remotely captures ROV20 is simpler and easier to implement.

(7) The catching ROV20 judges whether the under-ice detection AUV50 enters the catching cylinder 207 or not through the vision of the front-view camera 209, and when the judgment is 'yes', the second locking device 208 acts to lock and fix the under-ice detection AUV 50.

(8) The winch driving motor 103 in the docking cabin 10 rotates to start synchronous cable collection, the catching ROV20 is pulled back, the hanging ring 204 at the tail of the catching ROV20 can completely enter the docking positioning tapered groove 114 by utilizing the positioning and guiding effects of the docking positioning tapered groove 114 in the cable collection process, and then the winch stops rotating to complete the cable collection process. At this time, the capturing ROV20 is coaxially attached to the docking bay 10 by the cable, and is combined into a cylindrical integral structure.

(9) The second locking device 208 on the capture ROV20 is released, the tail thruster of the under-ice detection AUV50 rotates forward, and under the action of the thruster, the under-ice detection AUV50 continues to advance into the docking barrel 112 of the docking bay 10. When the under-ice detection AUV50 completely enters the docking drum 112, the position sensor 110 is triggered, then the locking devices on the capture ROV20 and the docking bay 10 are both opened, and the under-ice detection AUV50 is locked and fixed. If the task is charging endurance and data transmission, turning to the step (10); if the task is to recover the under-ice detection system, go to step (12).

(10) And if the task is charging endurance and data transmission, the charging and communication device is started, the under-ice detection AUV50 is charged in a non-contact electric energy transmission mode, and meanwhile, the under-ice detection AUV50 transmits the stored detection data to the docking bay and receives a new task instruction. The docking bay 10 may transmit data to the ice surface via a cable.

(11) And (4) after the charging and the data transmission are finished, the step (4) is carried out to execute a new task.

(12) The task is to recover the under-ice detection system, and the ice surface winch acts to hoist the under-ice detection system from the ice hole, so that the under-ice detection system is recovered.

The under-ice detection system is cylindrical in overall shape and has no any protruding parts at the periphery in the process of distributing or recovering the ice holes, so that the under-ice detection system is suitable for distributing and recovering the ice holes with limited aperture and cannot collide with the ice holes to damage the parts. The under-ice detection system can utilize the trapping ROV to realize the functions which cannot be easily realized by the under-ice detection AUV, such as water sample collection and sediment sampling, and realize the complementation of the detection functions. Catch the ROV among the detection system under ice and can survey in the long within range of self cable, for example make a video recording, gather water sample etc. if the cable length allows to catch the ROV and reach the bottom, can also carry sediment sampler to take a sample to bottom sediment. The capture ROV is provided with a front-view camera and can be used for actively capturing an underwater exploration AUV under visual guidance; the detection time and the detection range of the system under ice are improved by utilizing a back-docking connection mode, and the connection is easier to realize by adopting a mode of capturing the ROV to actively capture the AUV under ice. The underwater detection AUV can be freely detected underwater after being released, when the battery is insufficient in electric quantity or the AUV needs to be recovered, the battery can return under the acoustic guidance of USBL (universal serial bus), then the butt joint of the ROV and the AUV is realized under the active capture of the ROV, and then under the action of synchronously receiving two zero-buoyancy cables in a connection cabin, the ROV and the connection cabin are combined into a whole, at the moment, the AUV continues to advance to enter the connection barrel, the charging endurance and data transmission are realized, the detection time and the detection range under the ice are further improved, or the recovery of the underwater detection AUV is realized. The mode of actively capturing the AUV by capturing the ROV can be that an operator remotely controls the ROV to capture the AUV, and compared with the conventional AUV autonomous return connection mode, the method is simpler and easier to realize. The invention adopts two zero-buoyancy cables to realize the combination of the trapping ROV and the connection cabin, so that the combination is more compact and firm. Placing the charging and communication functions on the docking bay rather than on the capturing ROV may reduce the length of the capturing ROV, thereby improving the maneuverability of the capturing ROV. In addition, a lateral propeller can be arranged on the capturing ROV, so that the maneuverability of the capturing ROV can be further improved. All parts of the trapping ROV including the propeller are arranged inside the outer cylinder of the trapping ROV, so that the parts cannot be collided with the ice hole to damage the parts; big round hole has been dug respectively to the position that the ROV urceolus is close the propeller, and the inside fixed plate of ROV is the fretwork to and the toper gib block is along radial similar spoke form's equipartition, and these structural feature make outside rivers and propeller intercommunication, improve propulsion efficiency, also play the effect that reduces and catch ROV resistance of advancing.

Example two

Referring to fig. 6, this embodiment differs from the first embodiment in that the present embodiment does not provide lateral thrusters 206 for catcher ROV20, so that the maneuverability of catcher ROV20 is slightly inferior, but the benefit is that the axial length of catcher ROV20 can be reduced. And the big circular holes 216 are dug respectively at the position where the ROV outer cylinder 201 is close to the backward propeller 205, so that the external water flow can be better communicated with the backward propeller, and the propelling efficiency is improved.

The rest of the structure and the function are the same as those of the first embodiment.

Claims

1. The utility model provides an under ice detecting system suitable for ice hole cloth is put and is retrieved based on catch ROV, it can get into under water through the limited ice hole in aperture, its characterized in that: comprises that

the connection cabin is fixedly connected with a bearing cable driving the connection cabin to move and is used for capturing underwater retraction of the ROV and charging endurance and data communication of the underwater detection AUV;

the capture ROV is connected with the connection cabin to form a cylindrical integral structure which can move in ice holes with limited aperture, and can be separated from the connection cabin to collect water samples or sediments under water, and in addition, the capture ROV can actively capture and connect with an underwater detection AUV; the ROV catching device comprises a hollow ROV outer cylinder, a hollow annular rear cover plate is mounted at the rear end of the ROV outer cylinder, a plurality of backward propellers for driving the ROV catching to move underwater are uniformly mounted on the inner side of the rear cover plate, two hanging rings connected with a zero-buoyancy cable are mounted at the edge of the rear cover plate respectively, and a catching cylinder for being in butt joint with an underwater detection AUV is fixed in the middle of the rear cover plate; an ROV control cabin and a second locking device are arranged around the periphery of the capturing cylinder, a main control circuit board and a propeller driving circuit board are installed in the ROV control cabin, and the propeller is electrically connected with the propeller driving circuit board;

a foresight camera for underwater positioning and underwater detection AUV position and vision guide AUV connection are radially arranged at the position close to the front end of the inner side of the ROV outer cylinder, an illuminating lamp for providing a good visual effect, an ultra-short baseline positioning transponder for underwater sound positioning or underwater sound communication during underwater detection AUV return voyage and a plurality of water collectors for collecting an underwater water sample, wherein the foresight camera, the illuminating lamp, the ultra-short baseline positioning transponder and the water collectors are all electrically connected with a main control circuit board;

in the ice hole distribution or recovery process, the cable is completely recovered by the connection cabin, the capture ROV is coaxially attached to the connection cabin under the action of the cable, the under-ice detection AUV is locked and fixed by the connection cabin and the capture ROV, and the overall shape of the combined system is a cylindrical shape with steps.

2. An under-ice detection system suitable for ice hole deployment and retrieval based on a captive ROV as claimed in claim 1, wherein: the connection cabin comprises a cylindrical shell, a control and separation cabin and a connection barrel are arranged in the cylindrical shell, an electric core of the bearing cable is connected to the control and separation cabin, a winch driving motor is arranged on the control and separation cabin, winch drums are arranged on two sides of the winch driving motor, a zero-buoyancy main cable is wound on the winch drum on one side, a cable of the control and separation cabin is connected to a winch slip ring, the electric core of the cable is connected with the zero-buoyancy main cable through the winch slip ring, a zero-buoyancy auxiliary cable is wound on the winch drum on the other side, and free ends of the zero-buoyancy main cable and the zero-buoyancy auxiliary cable are both connected with a capture ROV;

3. An under-ice detection system for ice cave deployment and retrieval based on a captive ROV as claimed in claim 2, wherein: the winch comprises a cylindrical shell and is characterized in that a hollowed-out fixing plate is installed in the cylindrical shell, a control and separation cabin and a connection barrel are respectively fixed on two sides of the fixing plate, guide pulleys for limiting and guiding corresponding zero-buoyancy cables are installed on the wall surface of the cylindrical shell below each winch drum, and a butt joint positioning tapered groove for butt joint with a capture ROV is formed in the bottom of the cylindrical shell.

4. An under-ice detection system for ice cave deployment and retrieval based on a captive ROV as claimed in claim 2, wherein: the connection cylinder is a cylindrical guide cylinder, and the bottom of the connection cylinder is provided with a conical groove for limiting and buffering during AUV (autonomous Underwater vehicle) connection detection under ice.

5. An under-ice detection system suitable for ice hole deployment and retrieval based on a captive ROV as claimed in claim 1, wherein: and a plurality of lateral thrusters are uniformly distributed on the inner wall of the ROV outer barrel in the circumferential direction.

6. An under-ice detection system suitable for ice hole deployment and retrieval based on a captive ROV as claimed in claim 1, wherein: big round holes are formed in the circumferential surface of the ROV outer barrel, close to the backward propeller.

7. An under-ice detection system suitable for ice hole deployment and retrieval based on a captive ROV as claimed in claim 1, wherein: the outer opening of the connecting cylinder is connected with the front end opening of the ROV outer cylinder through a plurality of conical guide bars which are uniformly distributed along the radial spoke shape.

8. An under-ice detection system suitable for ice hole deployment and retrieval based on a captive ROV as claimed in claim 1, wherein: the lighting lamps are arranged on two sides of the front-view camera, the water sampler is located on two sides of the ultra-short baseline positioning transponder, the front-view camera is located right above the inner side of the ROV outer barrel, and the ultra-short baseline positioning transponder is located right below the inner side of the ROV outer barrel.

9. An under-ice detection system suitable for ice hole deployment and retrieval based on a captive ROV as claimed in claim 1, wherein: the under-ice detection AUV is in a torpedo shape with a smooth shell, the tail of the under-ice detection AUV is provided with a vector thruster, and the maximum outer diameter of the vector thruster is smaller than the outer diameter of the shell of the under-ice detection AUV; the front end of the under-ice detection AUV is provided with a camera and an ultra-short baseline positioning transceiver for underwater acoustic positioning communication; and the antenna for detecting the AUV under the ice is arranged in the cavity of the shell.