CN112407202A - Unmanned underwater ice-breaking navigation system for polar region - Google Patents
Unmanned underwater ice-breaking navigation system for polar region Download PDFInfo
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- CN112407202A CN112407202A CN202011349921.0A CN202011349921A CN112407202A CN 112407202 A CN112407202 A CN 112407202A CN 202011349921 A CN202011349921 A CN 202011349921A CN 112407202 A CN112407202 A CN 112407202A
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- ice
- drill bit
- polar region
- unmanned underwater
- breaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/02—Cleaning or keeping clear the surface of open water; Apparatus therefor from ice otherwise than according to E02B1/003
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
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Abstract
The invention discloses an unmanned underwater ice-breaking navigation system for a polar region. The polar region unmanned underwater explosion ice-breaking aircraft emits high-energy explosives through the main explosive emission tube and the secondary explosive emission tube, and the high-energy explosives generate huge pressure on an ice layer to break the ice layer, so that ice breaking is realized; the fixed drill bit of the drill bit ice breaking aircraft starts to rotate, the extending drill bit is opened in the rotation process and is fixed after being extended, and the drill bit generates huge pressure in an ice layer contact area, so that the ice surface is broken, and ice breaking is realized. The invention has simple structure, can be used as an ice breaking device and provides a launching window for the nuclear submarine to launch the missile in the polar region. The polar region unmanned underwater ice breaking vehicle adopts a mode of combining underwater drilling ice and underwater explosion ice breaking, the hybrid ice breaking mode can be combined and optimized for ice breaking aiming at different ice layer environments, and in order to enhance the diameter capability of an ice breaking window and improve the carrying convenience of the unmanned vehicle, a carrying and extending drill bit is designed and has the functions of extending, retracting and releasing.
Description
Technical Field
The invention relates to the technical field of ice breaking, in particular to an unmanned underwater ice breaking navigation system in a polar region.
Background
At present, an icebreaker or other icebreaking equipment mainly applies load to an ice surface on ice to overload the ice surface to break the ice, the icebreaker extrudes or collides the ice surface by an inclined bow to generate the load, the icebreaking equipment generates the load to the ice surface in modes of dead weight, explosion, vibration and the like, and the traditional icebreaking equipment often has the problem of large structural design or complex control. An ice breaking device for breaking ice by combining underwater drill bit ice breaking and underwater explosion is not seen.
Disclosure of Invention
According to the problems in the prior art, the invention discloses an unmanned underwater polar region ice breaking navigation system which comprises an unmanned underwater polar region drill bit ice breaking navigation vehicle and an unmanned underwater polar region explosion ice breaking navigation vehicle;
the polar region unmanned underwater drill bit icebreaking aircraft comprises a first body, a first control unit, a first fixed drill bit, a first extending drill bit, a first fairing, a first battery, a first motor, a first tail rudder wing and a first propeller; the first control unit, the first battery and the first motor are arranged in the first machine body, the first fixed drill bit is arranged at the top end of the first machine body and is in key connection with the first motor, the first extension drill bit is arranged in the first fixed drill bit and is hinged with the first fixed drill bit, the first fairing is arranged at the top of the first machine body and is hinged with the first machine body, the first tail rudder wing is arranged on the outer side of the first machine body, and the first propeller is arranged at the tail of the first machine body and is in key connection with the first motor;
the polar region unmanned underwater explosion icebreaking aircraft comprises a second aircraft body, a second control unit, a main explosive emission tube, a secondary explosive emission tube, a second fairing, a second battery, a second motor, a second tail rudder wing and a second propeller; the second control unit, the second battery and the second motor are arranged in the second machine body;
the main explosive launching tube and the secondary explosive launching tube are installed at the top of the second machine body, the second fairing is installed at the top of the second machine body and hinged to the second machine body, the second tail rudder wing is installed on the outer side of the second machine body, and the second propeller is installed at the tail of the first machine body and connected with the first motor key.
The underwater ice breaking process of the polar region unmanned underwater ice breaking vehicle comprises the following steps:
the polar region unmanned underwater explosion icebreaking aircraft launching phase: the polar region unmanned underwater explosion ice-breaking vehicle leaves the nuclear submarine carrier by regulating and controlling a second tail rudder wing and a second propeller of the polar region unmanned underwater explosion ice-breaking vehicle, and the polar region unmanned underwater explosion ice-breaking vehicle is adjusted to be in a vertical state from a horizontal state;
the polar region unmanned underwater explosion icebreaking aircraft emits high-energy explosive: opening a second fairing, and emitting high-energy explosives from the main explosive emission tube and the secondary explosive emission tube;
and (3) recovering the polar unmanned underwater explosion icebreaking aircraft: closing the second fairing, and adjusting the second tail rudder wing and the second tail rudder wing to adjust the polar region unmanned underwater explosion ice-breaking vehicle from the vertical state to the horizontal state and return to the nuclear submarine carrier;
the polar region unmanned underwater drill bit icebreaking aircraft launching phase: regulating and controlling a first tail rudder wing and a first propeller to enable the polar region unmanned underwater drill icebreaking aircraft to leave a nuclear submarine carrier, and adjusting the aircraft from a horizontal state to a vertical state;
the method comprises the following steps of (1) in an icebreaking stage of a polar region unmanned underwater drill bit icebreaking aircraft drill bit: opening the first fairing, extending the first extending drill bit, and combining the first fixed drill bit to break ice;
and (3) recovering the polar region unmanned underwater drill icebreaking aircraft: and closing the first fairing, and adjusting the first tail rudder wing and the first propeller to enable the aircraft to return to a horizontal state from a vertical state and return to carriers such as a nuclear submarine.
The first extension drill bit is a rotating body, a protruding drill nail is arranged on the surface of the first extension drill bit, and the drill nail is a frustum cone.
After leaving the nuclear submarine underwater, the device of the invention carries out self-navigation through the tail rudder wing and the propeller, and the aircraft opens the fairing. The polar region unmanned underwater explosion ice-breaking aircraft emits high-energy explosives through the main explosive emission tube and the secondary explosive emission tube, and the high-energy explosives generate huge pressure on an ice layer to break the ice layer, so that ice breaking is realized; the fixed drill bit of the drill bit ice breaking aircraft starts to rotate, the extending drill bit is opened in the rotation process and is fixed after being extended, and the drill bit generates huge pressure in an ice layer contact area, so that the ice surface is broken, and ice breaking is realized. The invention has simple structure, can be used as an ice breaking device and provides a launching window for the nuclear submarine to launch the missile in the polar region. The polar region unmanned underwater ice breaking vehicle adopts a mode of combining underwater drilling ice and underwater explosion ice breaking, the hybrid ice breaking mode can be combined and optimized for ice breaking aiming at different ice layer environments, and in order to enhance the diameter capability of an ice breaking window and improve the carrying convenience of the unmanned vehicle, a carrying and extending drill bit is designed and has the functions of extending, retracting and releasing. The ice breaking device is simple in structure, can be used as ice breaking equipment of strategic guided missile nuclear submarines, and the aircrafts are hung on two sides of the nuclear submarines when the nuclear submarines are in a cruise state and are not in operation. When the nuclear submarine needs to launch the missile, the unmanned aircraft leaves the nuclear submarine to perform ice breaking operation, and a launching window is provided for launching the missile below the ice layer.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the main structure of the present invention;
FIG. 2 is a side view of an ice breaking vehicle with a polar unmanned underwater drill bit of the present invention;
FIG. 3 is a cutaway view of an ice breaking vehicle with a polar unmanned underwater drill bit according to the present invention;
FIG. 4 is a side view of the polar unmanned underwater explosion icebreaking vehicle of the present invention;
fig. 5 is a sectional view of the polar unmanned underwater explosion icebreaking vehicle.
In the figure, the device comprises a first machine body 1-1, a first machine body 1-2, a first control unit 1-3, a first fixed drill bit 1-4, a first extension drill bit 1-5, a first fairing 1-6, a first battery 1-7, a first motor 1-8, a first tail rudder wing 1-9, a first propeller 2-1, a second machine body 2-2, a second control unit 2-3, a main explosive emission tube 2-4, a secondary explosive emission tube 2-5, a second fairing 2-6, a second battery 2-7, a second motor 2-8, a second tail rudder wing 2-9 and a second propeller.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
the polar region unmanned underwater ice breaking navigation system shown in fig. 1 specifically comprises a polar region unmanned underwater drill ice breaking vehicle and a polar region unmanned underwater explosion ice breaking vehicle.
As shown in fig. 2 and 3, the polar region unmanned underwater drill bit icebreaking vehicle comprises a first body 1-1, a first control unit 1-2, a first fixed drill bit 1-3, a first extension drill bit 1-4, a first fairing 1-5, a first battery 1-6, a first motor 1-7, a first tail rudder wing 1-8 and a first propeller 1-9; the first control unit 1-2, the first battery 1-6 and the first motor 1-7 are installed inside the first body 1-1. The first fixed drill bit 1-3 is arranged at the top of the first machine body 1-1 and connected with a first motor 1-7 in a key mode, the first extension drill bit 1-4 is located inside the first fixed drill bit 1-3 and hinged to the first fixed drill bit 1-3, the first fairing 1-5 is arranged at the top of the first machine body 1-1 and hinged to the first machine body 1-1 through a rod, the tail rudder wing 1-8 is arranged on the outer side of the first machine body 1-1 and welded to the first machine body 1-1, and the first propeller 1-9 is arranged at the tail of the first machine body 1-1 and connected with the first motor 1-7 in a key mode.
Further, the polar region unmanned underwater explosion icebreaking vehicle comprises a second body 2-1, a second control unit 2-2, a main explosive emission pipe 2-3, a secondary explosive emission pipe 2-4, a second fairing 2-5, a second battery 2-6, a second motor 2-7, a second tail rudder wing 2-8 and a second propeller 2-9; the second control unit 2-2, the second battery 2-6 and the second motor 2-7 are arranged in the second machine body 2-1.
Further, as shown in fig. 4 and 5, a main explosive discharge pipe 2-3 is disposed on the top of the second body 2-1 and welded to the second body 2-1, a secondary explosive discharge pipe 2-4 is disposed on the top of the second body 2-1 and welded to the second body 2-1, a second fairing 2-5 is disposed on the top of the second body 2-1 and hinged to the second body 2-1 through a rod, a second rear rudder wing 2-8 is disposed outside the second body 2-1 and welded to the second body 2-1, and a second propeller 2-9 is disposed at the rear of the first body 2-1 and connected to the first motor 2-7.
The process of completing underwater ice breaking comprises the following six stages, wherein the first stage is an emission stage of an unmanned underwater explosion ice breaking vehicle in the polar region: the polar region unmanned underwater explosion ice-breaking vehicle leaves a nuclear submarine carrier by regulating and controlling a second tail rudder wing 2-8 and a second propeller 2-9 of the polar region unmanned underwater explosion ice-breaking vehicle, and the polar region unmanned underwater explosion ice-breaking vehicle is regulated to be in a vertical state from a horizontal state; the second stage is a stage of emitting high-energy explosive by the polar region unmanned underwater explosion icebreaking aircraft: opening the second fairing 2-5, and launching high-energy explosive from the main explosive launching tube 10 and the secondary explosive launching tube 11; the third stage is a recovery stage of the polar unmanned underwater explosion icebreaking aircraft: closing the second fairing 2-5, adjusting the polar unmanned underwater explosion ice-breaking vehicle from the vertical state to the horizontal state through the regulation and control of the second tail rudder wing 2-8 and the second tail rudder wing 2-8, returning to the nuclear submarine carrier for charging, and preparing for the next ice-breaking task; the fourth stage is the launching stage of the polar region unmanned underwater drill icebreaking aircraft: regulating and controlling the first tail rudder wing 1-8 and the first propeller 1-9 to enable the polar region unmanned underwater drill bit icebreaking aircraft to leave the nuclear submarine carrier, and adjusting the aircraft from a horizontal state to a vertical state; the fifth stage is a polar region unmanned underwater drill bit icebreaking aircraft drill bit icebreaking stage: opening the first fairing 1-5, extending the first extending drill bit 1-4, and combining the first fixed drill bit 1-3 to break ice; the sixth stage is a recovery stage of the polar region unmanned underwater drill icebreaking aircraft: and (3) closing the first fairing 1-5, adjusting the first tail rudder wing 1-8 and the first propeller 1-9 to a horizontal state from a vertical state, and returning to carriers such as a nuclear submarine for charging to prepare for the next ice breaking task.
The six stages can be carried out according to the conditions of different ice layer thicknesses, in the first condition, when the ice layer thickness is below 0.5m, the system independently carries out ice breaking from the first stage to the third stage, and a polar unmanned underwater explosion ice breaking vehicle is used for completing tasks; in the second case, when the thickness of the ice layer is 0.5m-1.5m, the system independently performs ice breaking from the fourth stage to the sixth stage, and uses an polar region unmanned underwater drill bit to break ice to complete the task; in the third case, when the thickness of the ice layer exceeds 1.5m, the system is completely open from the first stage to the sixth stage, using both vehicles.
The design of the navigation system has the advantages of flexibility, wide application range and the like, and the modes of ice breaking by a drill bit, ice breaking by underwater explosion and combination of the drill bit and the ice breaking by underwater explosion are designed, so that various selection schemes are provided for the ice breaking in the polar region, the ice breaking mode can be reasonably selected according to the actual condition of an ice layer in the arctic region, the ice breaking in the arctic region is smoothly realized, and a launching window is provided for the nuclear submarine to launch missiles in the polar region.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (2)
1. An unmanned underwater ice-breaking navigation system for polar regions, which is characterized by comprising: the polar region unmanned underwater drill bit ice breaking vehicle and the polar region unmanned underwater explosion ice breaking vehicle;
the polar region unmanned underwater drill bit icebreaking aircraft comprises a first body (1-1), a first control unit (1-2), a first fixed drill bit (1-3), a first extension drill bit (1-4), a first fairing (1-5), a first battery (1-6), a first motor (1-7), a first tail rudder wing (1-8) and a first propeller (1-9); the first control unit (1-2), the first battery (1-6) and the first motor (1-7) are arranged inside the first machine body (1-1), the first fixed drill bit (1-3) is arranged at the top end of the first machine body (1-1) and is in key connection with the first motor (1-7), the first extension drill bit (1-4) is arranged inside the first fixed drill bit (1-3) and hinged with the first fixed drill bit (1-3), the first fairing (1-5) is arranged at the top of the first machine body (1-1) and is hinged with the first machine body (1-1), the first tail rudder wing (1-8) is arranged on the outer side of the first machine body (1-1), the first propeller (1-9) is arranged at the tail part of the first machine body (1-1) and is connected with the first motor (1-7) in a key mode;
the polar region unmanned underwater explosion icebreaking aircraft comprises a second body (2-1), a second control unit (2-2), a main explosive emission tube (2-3), a secondary explosive emission tube (2-4), a second fairing (2-5), a second battery (2-6), a second motor (2-7), a second tail rudder wing (2-8) and a second propeller (2-9); the second control unit (2-2), the second battery (2-6) and the second motor (2-7) are arranged inside the second machine body (2-1);
the main explosive launching tube (2-3) and the secondary explosive launching tube (2-4) are installed at the top of the second machine body (2-1), the second fairing (2-5) is installed at the top of the second machine body (2-1) and hinged to the second machine body (2-1), the second tail rudder wing (2-8) is installed on the outer side of the second machine body (2-1), and the second propeller (2-9) is installed at the tail of the first machine body (2-1) and connected with the first motor (2-7) in a key mode.
The underwater ice breaking process of the polar region unmanned underwater ice breaking vehicle comprises the following steps:
the polar region unmanned underwater explosion icebreaking aircraft launching phase: the polar region unmanned underwater explosion ice-breaking vehicle leaves a nuclear submarine carrier by regulating and controlling a second tail rudder wing (2-8) and a second propeller (2-9) of the polar region unmanned underwater explosion ice-breaking vehicle, and the polar region unmanned underwater explosion ice-breaking vehicle is regulated to be in a vertical state from a horizontal state;
the polar region unmanned underwater explosion icebreaking aircraft emits high-energy explosive: opening a second fairing (2-5) and emitting high explosive from a main explosive emission tube (10) and a secondary explosive emission tube (11);
and (3) recovering the polar unmanned underwater explosion icebreaking aircraft: closing the second fairing (2-5), and adjusting the second tail rudder wing (2-8) and the second tail rudder wing (2-8) to enable the polar region unmanned underwater explosion ice-breaking vehicle to return to the horizontal state from the vertical state and return to the nuclear submarine carrier;
the polar region unmanned underwater drill bit icebreaking aircraft launching phase: regulating and controlling a first tail rudder wing (1-8) and a first propeller (1-9) to enable the polar region unmanned underwater drill bit icebreaking aircraft to leave a nuclear submarine carrier, and adjusting the aircraft from a horizontal state to a vertical state;
the method comprises the following steps of (1) in an icebreaking stage of a polar region unmanned underwater drill bit icebreaking aircraft drill bit: opening the first fairing (1-5), extending the first extending drill bit (1-4), and combining the first fixed drill bit (1-3) to break ice;
and (3) recovering the polar region unmanned underwater drill icebreaking aircraft: and closing the first fairing (1-5), and adjusting the first tail rudder wing (1-8) and the first propeller (1-9) to return the aircraft to a horizontal state from a vertical state and return the aircraft to carriers such as a nuclear submarine.
2. The polar region unmanned underwater ice-breaking navigation system according to claim 1, wherein: the first stretching drill bit (1-4) is a rotating body, a protruding drilling nail is arranged on the surface of the first stretching drill bit (1-4), and the drilling nail is a frustum cone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011349921.0A CN112407202A (en) | 2020-11-26 | 2020-11-26 | Unmanned underwater ice-breaking navigation system for polar region |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011349921.0A CN112407202A (en) | 2020-11-26 | 2020-11-26 | Unmanned underwater ice-breaking navigation system for polar region |
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| CN112407202A true CN112407202A (en) | 2021-02-26 |
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| CN202011349921.0A Pending CN112407202A (en) | 2020-11-26 | 2020-11-26 | Unmanned underwater ice-breaking navigation system for polar region |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277039A (en) * | 2021-05-25 | 2021-08-20 | 中国船舶重工集团公司第七一三研究所 | Towed payload laying device based on underwater robot |
| CN113501093A (en) * | 2021-06-29 | 2021-10-15 | 哈尔滨工程大学 | Unmanned aerial bomb ice breaking submersible vehicle |
| CN114212224A (en) * | 2021-12-17 | 2022-03-22 | 江苏科技大学 | Self-icebreaking polar region water area deep submergence lifeboat |
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| CN106904259A (en) * | 2017-03-16 | 2017-06-30 | 徐芝香 | A kind of ice breaking by explosion system |
| CN107856816A (en) * | 2017-11-06 | 2018-03-30 | 哈尔滨工程大学 | A kind of unmanned subglacial opens ice latent device |
| CN110435830A (en) * | 2019-07-15 | 2019-11-12 | 哈尔滨工程大学 | A kind of latent device of the unmanned subglacial ice-breaking of cutting type |
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2020
- 2020-11-26 CN CN202011349921.0A patent/CN112407202A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106904259A (en) * | 2017-03-16 | 2017-06-30 | 徐芝香 | A kind of ice breaking by explosion system |
| CN107856816A (en) * | 2017-11-06 | 2018-03-30 | 哈尔滨工程大学 | A kind of unmanned subglacial opens ice latent device |
| CN110435830A (en) * | 2019-07-15 | 2019-11-12 | 哈尔滨工程大学 | A kind of latent device of the unmanned subglacial ice-breaking of cutting type |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277039A (en) * | 2021-05-25 | 2021-08-20 | 中国船舶重工集团公司第七一三研究所 | Towed payload laying device based on underwater robot |
| CN113277039B (en) * | 2021-05-25 | 2022-11-01 | 中国船舶重工集团公司第七一三研究所 | Towed payload laying device based on underwater robot |
| CN113501093A (en) * | 2021-06-29 | 2021-10-15 | 哈尔滨工程大学 | Unmanned aerial bomb ice breaking submersible vehicle |
| CN113501093B (en) * | 2021-06-29 | 2022-09-02 | 哈尔滨工程大学 | Unmanned aerial bomb ice breaking submersible vehicle |
| CN114212224A (en) * | 2021-12-17 | 2022-03-22 | 江苏科技大学 | Self-icebreaking polar region water area deep submergence lifeboat |
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Application publication date: 20210226 |