CN113210882A - Underwater laser ice breaking device and method - Google Patents

Underwater laser ice breaking device and method Download PDF

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CN113210882A
CN113210882A CN202110394651.3A CN202110394651A CN113210882A CN 113210882 A CN113210882 A CN 113210882A CN 202110394651 A CN202110394651 A CN 202110394651A CN 113210882 A CN113210882 A CN 113210882A
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laser
ice
acquisition module
ice breaking
cutting
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CN113210882B (en
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张娜
许钊
张庆河
何小松
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Tianjin Chengjian University
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Tianjin Chengjian University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/08—Ice-breakers or other vessels or floating structures for operation in ice-infested waters; Ice-breakers, or other vessels or floating structures having equipment specially adapted therefor
    • B63B35/083—Ice-breakers

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  • Ocean & Marine Engineering (AREA)
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Abstract

The invention discloses an underwater laser ice breaking device and an ice breaking method, which belong to the technical field of laser application and are characterized by at least comprising the following steps: the laser emitting part comprises a carrier and a laser mounted on the carrier; the device comprises a working condition parameter acquisition part, a data acquisition part and a data acquisition part, wherein the working condition parameter acquisition part comprises a temperature acquisition module, an optical path acquisition module, a flow speed acquisition module, a seawater density acquisition module and a turbidity acquisition module; and the laser control part receives the parameters of the working condition parameter acquisition part and further controls the transmitting power P of the laser according to the preset ice breaking time and the ice breaking amount. The method utilizes the laser to carry out underwater ice breaking, the ice layer can not be greatly damaged in the ice breaking process, namely, the ecological environment can not be influenced, the obtained ice layer has higher scientific research value, and meanwhile, the noise is low, and the marine organism is prevented from being disturbed.

Description

Underwater laser ice breaking device and method
Technical Field
The invention belongs to the technical field of laser application, and particularly relates to an underwater laser ice breaking device and an ice breaking method.
Background
As is well known, the North Pole has the shortest route which connects Europe, Asia-Pacific and North America, and the shipping distance can be shortened by one third compared with the traditional route, so that the opening of the North Pole route changes the world shipping pattern and has important political and economic strategic values. The biggest difference between an arctic channel and a traditional channel is that 70% of the sea area of the arctic is covered by a thick ice layer, the geographic characteristic provides higher requirements for the navigation safety of ships, and the research on the physical characteristics and the ice layer microbial composition of the arctic sea ice by sampling the arctic sea ice has important reference value for researching the generation and elimination evolution law of the arctic sea ice and establishing effective arctic navigation safety measures according to the evolution law. In recent years, the influence of arctic climate environmental change on climate in China is increasingly remarkable, and polar region environmental change, polar region resource exploration, polar region environmental protection and the like become hot problems of polar region research. In the process of intensive and polar research, mastering high-quality and high-precision field survey data is the basis of work development. Under the influence of global warming, ice covers of the north pole are increasingly melting, the value of the north pole in the aspects of resources, traffic, geographical strategies and the like is increasingly remarkable, the north pole becomes the focus of international social attention, and all countries are vigorously developing polar equipment and technology.
The prior art of underwater ice breaking comprises:
(1) and (5) mechanically cutting. In underwater mechanical cutting, a workpiece is crushed and damaged by using tools such as a milling cutter and a turning tool, and then is cut. The mechanical cutting is easy to realize automation, the cutting process is environment-friendly compared with other cutting modes, but the equipment volume is large, the investment is more, the cutting speed is slower, and the noise is large.
(2) And (4) cutting by high-pressure water. The high-pressure water cutting technology is used for cutting a workpiece by continuously impacting high-pressure water flow, and has the advantages of low working noise, narrow cutting seam and regular cutting opening. The cutting machine belongs to the cutting without a blade, and has lower equipment price and low failure rate. Can finish the cutting of most materials under various environments, and is an underwater cutting technology with wide application. However, when a thick ice layer is cut, the cutting efficiency is difficult to ensure, and the floating ice debris after cutting is difficult to remove in a short time.
(3) And (5) energy-gathered explosive cutting. Underwater cumulative explosive cutting was developed in the last 60 th century from land explosive cutting. The object is cut by the energy generated by the explosion of the explosive. The early underwater explosive cutting technology adopts contact explosive charging, namely explosive is directly placed around a component, energy is generated by explosion to tear a workpiece, and the obtained cutting opening is irregular and generally needs secondary cutting in subsequent processing. In recent years, due to rapid development of precision in cutting and forming, shaped charge explosive cutting technology is used, explosive is charged into a soft metal tube (copper, aluminum, etc.) and then detonated, and a workpiece is cut by high-speed metal particles generated after explosion. However, underwater explosion has a great influence on water pressure, shock waves generated by explosion can damage submarines and damage marine environments, and huge noise generated by explosion is not suitable for concealed tasks in practical application.
The laser cutting method has the advantages of high cutting efficiency, low cost, high automation degree and various cutting materials, and is widely applied to various fields of production and life. At present, the research aiming at laser cutting mainly focuses on plate cutting with gas as a medium, the research on laser deicing also mainly focuses on protection of a high-voltage power grid, and the research on the aspect of applying laser to underwater ice breaking is not available. Under the condition of eliminating extreme conditions, the laser can be transmitted in seawater at a very small attenuation rate, when the laser acts on the surface of the ice block, the energy is rapidly transmitted to the inside of the ice block along the transmission direction of the laser and cannot be completely penetrated, and when the ice block along the transmission direction of the beam is melted through, the added energy can only influence the surrounding ice block in a heat conduction mode. Therefore, the laser energy is concentrated, the heat affected zone is small, and the surrounding ecological environment is not affected. If the movable light spot irradiates the non-melting area at the moment, the speed and the efficiency of deicing are improved. Laser power is an important influencing factor: the higher the power density, the faster the speed of melting through the ice along the direction of beam propagation (i.e., the ice melting linear velocity); under the precondition of ice column penetration, the higher the laser power is, the more the volume of the melted ice (namely, the ice cutting speed) in unit time is. Therefore, it is feasible to cut sea ice using a laser using sea water as a propagation medium in the polar sea area. And the laser cutting heat affected zone is small, the noise is low, the efficiency is high, and the conditions of the submarine for executing the concealing task are met while the environmental protection requirement is met.
Disclosure of Invention
The invention provides an underwater laser ice breaking device and an ice breaking method for solving the technical problems in the prior art, wherein the laser is used for underwater ice breaking, the ice layer is not greatly damaged in the ice breaking process, namely, the ecological environment is not influenced, the obtained ice layer has high scientific research value, and meanwhile, the noise is low, and the marine organism is prevented from being disturbed.
A first object of the present invention is to provide an underwater laser ice breaking device, including:
the laser emitting part comprises a carrier (9) and a laser mounted on the carrier;
the device comprises a working condition parameter acquisition part, a data acquisition part and a data acquisition part, wherein the working condition parameter acquisition part comprises a temperature acquisition module, an optical path acquisition module, a flow velocity acquisition module, a seawater density acquisition module and a turbidity acquisition module;
laser control portion, laser control portion receives the parameter of operating mode parameter acquisition portion to according to predetermined broken ice time and the volume of opening ice, and then control laser instrument's transmitting power P, specifically do:
Figure BDA0003018115980000021
wherein: eta is the actual energy transmission efficiency of the laser through the seawater; r is a reflection coefficient; upsilon is the cutting speed; b is the width of the cutting seam; rho is sea ice density; t is the cutting thickness; c is the specific heat of ice; delta T is the temperature difference of the material when the material is heated to the melting temperature; l ismIs latent heat of fusion of the material; f is the proportion of the vaporized part; l isvIs the latent heat of vaporization of the material.
Preferably, the carrier (9) comprises a sealed cavity for mounting the laser, and N annular rails (2) made of light-transmitting materials are arranged on the upper cover of the carrier (9); a motor for driving the laser to move along the annular track (2) is arranged in the sealed cavity, and a laser emitting port (1) of the laser is positioned right below the annular track (2); wherein: n is a natural number greater than 0.
Preferably, an output shaft of the motor is provided with a turntable or a bracket, and the turntable or the bracket is provided with M fixtures for mounting the laser; m is a natural number greater than 0.
Preferably, a reference positioning mechanism is arranged on the carrier (9), the reference positioning mechanism comprises an electric lifting rod (4), the lower end of the electric lifting rod (4) is fixedly connected with the upper surface of the carrier (9), and the upper end of the electric lifting rod (4) is provided with a punching laser (3); the side wall of the upper end part of the electric lifting rod (4) is provided with a telescopic claw (8).
Preferably, an optical path adjusting system (5) is arranged below the carrier (9).
Preferably, the optical path length adjusting system (5) includes: truss, the hydraulic stem of drive truss action.
Preferably, the temperature acquisition module is a temperature sensor; the optical path acquisition module comprises a laser range finder and a refractive index sensor; the flow speed acquisition module is a flow speed sensor; the seawater density acquisition module and the turbidity acquisition module are seawater quality analyzers.
Preferably, the sampling device also comprises a sampling collector, wherein the sampling collector comprises a sampling storage box (10) with a plurality of sample containing cavities, and a sample holder (11) arranged in each sampling storage box (10).
The second purpose of the invention is to provide an underwater laser ice breaking method, which comprises the following steps:
s1, bringing the underwater laser ice breaking device to a preset position below an ice layer through a diving device;
s2, establishing an ice breaking reference point between the laser emitting part and the ice layer through the reference positioning mechanism; setting a point position for breaking ice;
s3, obtaining working condition parameters, wherein the working condition parameters comprise ice temperature, optical path, flow speed and flow direction of ocean current, seawater concentration and turbidity;
s4, selecting proper transmitting power P according to the time required by the task and the acquired working condition parameters; the method specifically comprises the following steps:
Figure BDA0003018115980000031
wherein: eta is the actual energy transmission efficiency of the laser through the seawater; r is a reflection coefficient; upsilon is the cutting speed; b is the width of the cutting seam; rho is sea ice density; t is the cutting thickness; c is the specific heat of ice; delta T is the temperature difference of the material when the material is heated to the melting temperature; l ismIs latent heat of fusion of the material; f is the proportion of the vaporized part; l isvIs the latent heat of vaporization of the material.
And S5, after the ice breaking is finished, collecting and storing the ice blocks.
The invention has the advantages and positive effects that:
compared with the traditional mechanical ice breaking or explosion ice breaking, the laser underwater ice breaking method has the advantages that the ice layer is not greatly damaged in the ice breaking process, namely, irreversible great influence on the ecological environment is not generated;
according to the invention, the laser is used for underwater ice breaking, and cracks can not occur in the ice layer due to vibration, so that the obtained ice layer is relatively complete, and the obtained ice layer has higher scientific research value;
the method utilizes laser to carry out underwater ice breaking, and can cut ice layer samples with different shapes and sizes by controlling the position of the emergent light beam of the laser;
the invention utilizes laser to carry out underwater ice breaking, the noise in the ice breaking process is small and almost zero, and the disturbance of marine organisms is avoided.
Drawings
FIG. 1 is a diagram of the initial state structure of the preferred embodiment of the present invention;
FIG. 2 is a diagram of the operating state architecture of the preferred embodiment of the present invention;
FIG. 3 is a block diagram of a datum positioning mechanism in accordance with a preferred embodiment of the present invention;
FIG. 4 is a block diagram of an optical path length adjustment system in a preferred embodiment of the present invention;
FIG. 5 is a block diagram of a sample collector in a preferred embodiment of the invention;
fig. 6 is a flow chart of a preferred embodiment of the present invention.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
the laser can penetrate water but cannot penetrate sea ice containing halogen bubble impurities, so that energy of the laser almost has no loss in the water, and can be absorbed by the sea ice to the maximum extent, so that underwater ice breaking is realized; on the basis of the previous experimental study, fitting an empirical formula of the breakage rate of laser propagating in polar region seawater; estimating the time consumption and the energy consumption of the cutting process under the general conditions; the cutting process, the laser dot matrix and the complete equipment are designed. The design method and the design theory analyze the influence of the energy transfer efficiency of different laser wavelengths in water, the energy dissipation rule of the laser in ice and the influence of different laser powers on the cutting efficiency. And the optimal cutting conditions and empirical parameters are summarized in terms of these effects. The special tool can provide powerful theory and technical support for the ice breaking behavior in extremely cold sea areas such as extremely thick ice layers, can be used for ice breaking sampling of scientific research institutions in the future, and is particularly suitable for submarines to complete hidden tasks in the sea areas covered by the ice layers.
As shown in fig. 1 to 5, the technical solution of the present invention is:
an underwater laser ice breaking device mainly comprises:
the laser emitting part generates laser according to cutting requirements and controls the emitting position and the emitting power of the laser, and the laser emitting part comprises a carrier 9 and a laser installed on the carrier; the number of lasers on each carrier is determined according to actual requirements;
the device comprises a working condition parameter acquisition part, a data acquisition part and a data acquisition part, wherein the working condition parameter acquisition part comprises a temperature acquisition module, an optical path acquisition module, a flow velocity acquisition module, a seawater density acquisition module and a turbidity acquisition module; in the preferred embodiment, the temperature acquisition module is a temperature sensor (preferably a non-contact temperature sensor); the optical path acquisition module comprises a laser range finder and a refractive index sensor; the flow speed acquisition module is a flow speed sensor; the seawater density acquisition module and the turbidity acquisition module are seawater quality analyzers. The seawater quality analyzer can accurately analyze the flow speed, the seawater concentration and the turbidity degree of seawater during cutting, is convenient to obtain an optimal cutting scheme and judges whether the flow speed meets the requirement of removing floating ice.
Laser control portion, laser control portion receives the parameter of operating mode parameter acquisition portion to according to predetermined broken ice time and the volume of opening ice, and then control laser instrument's transmitting power P, specifically do:
Figure BDA0003018115980000051
wherein: eta is the actual energy transmission efficiency of the laser through the seawater; r is the reflection coefficient, here the reflection coefficient of ice; upsilon is the cutting speed; b is the kerf width, namely the diameter of the laser; rho is sea ice density; t is the cutting thickness, i.e. the thickness of the ice layer; c is the specific heat of ice; delta T is the temperature difference of the material when the material is heated to the melting temperature; l ismIs latent heat of fusion of the material; f is the proportion of the vaporized part; l isvIs the latent heat of vaporization of the material.
Referring to fig. 1 and 2, the carrier 9 includes a sealed cavity for mounting the laser, and N annular rails 2 made of a light-transmitting material are disposed on an upper cover of the carrier 9; a motor for driving the laser to move along the annular track 2 is arranged in the sealed cavity, and a laser emitting port 1 of the laser is positioned right below the annular track 2; wherein: n is a natural number greater than 0. In the present preferred embodiment, since the endless track 2 is circular, only cylindrical ice cubes can be cut; in order to improve the cutting efficiency, a plurality of lasers, for example, four lasers in the present embodiment, may be disposed directly below each circular track, and the four lasers are disposed at equal intervals.
A turntable or a bracket (the bracket can be in a cross shape) is arranged on an output shaft of the motor, and M fixtures for mounting lasers are arranged on the turntable or the bracket; m is a natural number greater than 0.
In order to realize the cutting of ice blocks with different shapes, the upper cover of the carrier 9 can be made of a light-transmitting material, a double-shaft movement mechanism is arranged in the sealed cavity, the laser is arranged on the double-shaft movement mechanism, and the control of output laser beams can be realized by setting the movement track of the double-shaft movement mechanism, so that the ice blocks with different end surface shapes are cut; since the biaxial movement mechanism belongs to the prior art, the description is omitted here;
in order to avoid the influence of water flow, the ice breaking device must be positioned before cutting, and for this reason, in the preferred embodiment, a reference positioning mechanism is arranged on the carrier 9, the reference positioning mechanism includes an electric lifting rod 4, the lower end of the electric lifting rod 4 is fixedly connected with the upper surface of the carrier 9, and the upper end of the electric lifting rod 4 is provided with a hole-drilling laser 3; the side wall of the upper end part of the electric lifting rod 4 is provided with a telescopic claw 8. When the device works, a positioning hole is punched on an ice layer by using the punching laser 3, then the electric lifting rod 4 penetrates out of the positioning hole from bottom to top, and then the telescopic claw 8 extends out to grab the upper surface of the ice layer; thus, the position of the ice breaking device and the ice layer is kept relatively static during subsequent cutting;
in order to improve the ice breaking efficiency, the optical path may be adjusted during the ice breaking process, and for this purpose, an optical path adjusting system 5 is disposed below the carrier 9.
The optical path length adjusting system 5 includes: a truss, a hydraulic rod 12 driving the truss to move. Wherein: the truss comprises a plurality of quadrilateral structures, each quadrilateral structure comprises four rigid rods 7, and the cross points of the rigid rods 7 are hinged through a rotating shaft 6. When the lifting device works, the lifting or descending control of the truss can be realized by controlling the extension and contraction of the hydraulic rod 12; and finally, the adjustment of the optical path is realized.
To accomplish ice sampling, a sample collector is included that includes sample storage boxes 10 having a plurality of sample receiving cavities, and a sample holder 11 disposed within each sample storage box 10.
As shown in fig. 6: the ice breaking method of the underwater ice breaking device comprises the following steps:
s1, bringing the underwater laser ice breaking device to a preset position below an ice layer through a diving device; the underwater laser ice breaking device can be arranged on the upper surface of the diving device in advance, or the underwater laser ice breaking device extends out of the top of the diving device after the underwater laser ice breaking device reaches a preset position below an ice layer;
s2, establishing an ice breaking reference point between the laser emitting part and the ice layer through the reference positioning mechanism; setting a point position for breaking ice; the method specifically comprises the following steps:
firstly, after an ice breaking datum point is found, a positioning hole is punched on an ice layer by using a punching laser 3, an electric lifting rod 4 penetrates out of the positioning hole from bottom to top, and a telescopic claw 8 extends out to grab the upper surface of the ice layer; thus, the position of the ice breaking device and the ice layer is kept relatively static during subsequent cutting;
then adjusting the initial position of the laser, and planning a cutting path through a controller;
s3, obtaining working condition parameters, wherein the working condition parameters comprise ice temperature, optical path, flow speed and flow direction of ocean current, seawater concentration and turbidity;
s4, selecting proper transmitting power P according to the time required by the task and the acquired working condition parameters; the method specifically comprises the following steps:
Figure BDA0003018115980000071
wherein: eta is the actual energy transmission efficiency of the laser through the seawater; r is a reflection coefficient; upsilon is the cutting speed; b is the width of the cutting seam; rho is sea ice density; t is the cutting thickness; c is the specific heat of ice; delta T is the temperature difference of the material when the material is heated to the melting temperature; l ismIs latent heat of fusion of the material; f is the proportion of the vaporized part; l isvIs the latent heat of vaporization of the material;
and S5, after the ice breaking is finished, collecting and storing the ice blocks.
The working principle of the invention is as follows: the focused high-power high-density laser beam is used for irradiating the lower surface of the ice layer, so that ice blocks at the irradiated part are quickly melted and vaporized, a vertical surface is formed at the terminal of the cut, and the target sea ice is cut by utilizing the characteristics of large and concentrated laser energy, low noise and high efficiency. And the heat affected zone of laser cutting is small, so that large-area melting of ice in the cutting zone can not be caused. The underwater cutting is different from the cutting in the atmosphere, is influenced by various factors, needs to consider different influencing factors in order to realize better cutting effect, wherein the energy loss is the most critical, and for this reason, an energy balance formula is established:
the total energy balance equation of the laser cutting process is as follows:
η×P×(1-R)＝υBtρ(c×ΔT+Lm+fLv) (1)
parameter definitions and reference values in the formulae: eta-the actual energy transmission efficiency of the laser through the seawater;
p-incident laser power (W);
r — reflection coefficient, R ═ 0.15;
upsilon-cutting speed (m/min);
b-kerf width (m);
rho-material density, sea ice density rho 860kg/m3～915kg/m3；
t-cutting thickness (m);
c-specific heat of material, ice specific heat 2100J/(kg. DEG C);
delta T is the temperature difference of the material when the material is heated to the melting temperature, and delta T is 20 ℃;
Lm-latent heat of fusion of the material, 335 kJ/kg;
f-proportion of the vaporized part;
Lv-latent heat of vaporization (kJ/kg) of the material;
the actual energy transfer efficiency of the laser through seawater can be described by the loss rate:
η＝1-α (2)
in the formula: alpha-loss rate (m) of laser light through seawater-1)；
The whole cutting process can be roughly divided into four stages:
the first stage is the cutting preparation stage, in which the lifting system lifts the cutting device to a suitable optical path (the optical path depends on the sea state and the diving depth of the carrier during cutting, and in principle, the smaller the optical path between the instrument and the cutting surface is, the better, but the optical path is preferably not more than 4m in consideration of the actual situation).
The second stage laser is absorbed by water before reaching the workpiece surface, referred to as the water absorption stage of the laser.
And in the third stage, the surface heat source heats the surface of the ice body, so that the surface of the ice body is melted to break down the ice body, the laser beam and the cutting head continuously move, and finally the ice body is cut off, namely the cutting stage.
The fourth stage is a floating ice cleaning and collecting stage.
In the water absorption stage:
the method improves the method for acquiring the loss rate of the polar region on the basis of the previous experimental research, mainly considers the influence of the water depth and the laser wavelength on the loss rate of the laser in the seawater transmission, and increases the empirical formula of the loss rate of each linear meter of the optical path of the laser transmitted in the seawater of the polar region. By analysis, an empirical formula is derived:
the traditional loss rate is obtained according to on-site measurement, the empirical formula of the loss rate of the laser in seawater in the cold region is fitted on the basis of previous research, and the influence of the water depth and the wavelength of the laser on the loss rate is mainly considered:
α＝c1×h+c2×λ+c3×λ2+c4 (3)
λ -laser wavelength (nm); h-depth of water (m);
c1、c2、c3、c4are respectively the auxiliary coefficient, c1＝-0.24，c2＝2.72，c3＝-2.69，c4＝0.32。
The formula (3) performs normalization processing on the data in the range of water depth of 10-500m, wavelength of 390-570nm and attenuation rate of 0.003/m-0.059/m. Through analysis of a fitting formula of the attenuation rate of the laser in the seawater, the relation between the attenuation rate and the water depth of the formula under the water with the depth of 10-500m is obtained to be in accordance with linear change, the attenuation rate of the optical path in each linear meter in water becomes smaller along with the increase of the water depth, the trend of the optical path in water becomes slower along with the increase of the optical path in water, and the relation between the attenuation rate and the wavelength is in accordance with a quadratic function change rule. The decay rate reaches a minimum at a wavelength of 490 nm. The laser attenuation degree is obviously influenced when the influence of factors such as turbidity and the like is enlarged to be 0.2/m or more, the loss rate of the ocean environment applied by combining the invention is between 0.02/m and 0.1/m, the most energy of the laser can be ensured to act on the ice surface by combining a smaller laser transmission distance in the loss rate range, and the cutting efficiency is high.
Another unknown condition can be calculated according to the above formula under the condition that the power, the cutting thickness and the cutting speed are known. For example:
(1-α)×P×(1-R)＝υBtρ(c×ΔT+Lm+fLv)
p is 200000(W), the laser wavelength is 530nm, underwater 10m, optical path is 4m, attenuation rate is 0.022/m, R is 0.15, B is 0.01m of kerf width, rho is 900kg/m3，t＝2m，c＝2100J/(kg·℃)，ΔT＝20℃， Lm335kJ/kg, and f 0. When the power is 200000W, the underwater optical path is 4m, the ice layer with the thickness of 2m is cut, the cutting diameter is 2m, the linear cutting speed can be obtained to be 0.3m/min, the total required cutting length is pi multiplied by d to be 6.3m, and the maximum cutting of each emitter is 1.6 m. The cutting time is about 6 minutes.
And (3) cutting:
laser loss in ice calculation module: the concrete formula is as follows:
Iout＝Iinexp(-αd) (4)
wherein:
Iinis the incident light intensity (kW) of the laser;
Ioutis the light intensity (kW) of the laser after the laser has passed the incident distance d;
alpha is the absorption coefficient (m) of ice for light-1)；
d is the incident length (m) of the light.
The specific experimental test results are as follows:
1. in the laser underwater cutting, water has a certain absorption effect on laser. The absorption of laser energy by water is somewhat dependent on the wavelength of the laser. When the water depth is 10m, the wavelength is increased from 390nm to 490nm, the attenuation rate of the laser in the water per linear meter optical path is reduced from 0.059 to 0.003, and the corresponding attenuation rate is minimum when the laser wavelength is 490 nm.
2. Taking 490nm laser wavelength as an example, as the water depth increases, the attenuation rate of the laser in the water per linear meter of optical path gradually decreases.
3. With the increase of the underwater optical path, the absorption of laser energy by water is increased, the energy reaching the surface of the workpiece is reduced, the heat affected zone of the material is narrowed, and the deformation is reduced.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims (10)

1. An underwater laser ice breaking device, characterized by comprising at least:
the laser emitting part comprises a carrier (9) and a laser mounted on the carrier;
the device comprises a working condition parameter acquisition part, a data acquisition part and a data acquisition part, wherein the working condition parameter acquisition part comprises a temperature acquisition module, an optical path acquisition module, a flow speed acquisition module, a seawater density acquisition module and a turbidity acquisition module;
laser control portion, laser control portion receives the parameter of operating mode parameter acquisition portion to according to predetermined time of breaking ice and the volume of breaking ice, and then control laser instrument's transmitting power P, specifically do:
Figure FDA0003018115970000011
wherein: eta is the actual energy transmission efficiency of the laser through the seawater; r is a reflection coefficient; upsilon is the cutting speed; b is the width of the cutting seam; rho is sea ice density; t is the cutting thickness; c is the specific heat of ice; delta T is the temperature difference of the material when the material is heated to the melting temperature; l ismIs latent heat of fusion of the material; f is the proportion of the vaporized part; l isvIs the latent heat of vaporization of the material.
2. The underwater laser ice breaking device according to claim 1, wherein the carrier (9) comprises a sealed cavity for mounting the laser, and N annular rails (2) made of light-transmitting materials are arranged on the upper cover of the carrier (9); a motor for driving the laser to move along the annular track (2) is arranged in the sealed cavity, and a laser emitting port (1) of the laser is positioned right below the annular track (2); wherein: n is a natural number greater than 0.
3. The underwater laser ice breaking device according to claim 2, wherein a turntable or a bracket is mounted on an output shaft of the motor, and M fixtures for mounting lasers are arranged on the turntable or the bracket; m is a natural number greater than 0.
4. The underwater laser ice breaking device according to claim 1, wherein a reference positioning mechanism is arranged on the carrier (9), the reference positioning mechanism comprises an electric lifting rod (4), the lower end of the electric lifting rod (4) is fixedly connected with the upper surface of the carrier (9), and the upper end of the electric lifting rod (4) is provided with a hole drilling laser (3); the side wall of the upper end part of the electric lifting rod (4) is provided with a telescopic claw (8).
5. The underwater laser ice breaking device according to claim 1, wherein an optical path adjusting system (5) is arranged below the carrier (9).
6. The underwater laser ice breaking device according to claim 4, wherein the optical path adjusting system (5) comprises: truss, the hydraulic stem of drive truss action.
7. The underwater laser ice breaking device according to claim 1, wherein the temperature acquisition module is a temperature sensor; the optical path acquisition module comprises a laser range finder and a refractive index sensor; the flow speed acquisition module is a flow speed sensor; the seawater density acquisition module and the turbidity acquisition module are seawater quality analyzers.
8. The underwater laser ice breaking device according to claim 1, further comprising a sampling collector including a sampling storage box (10) having a plurality of sample receiving chambers, a sample holder (11) disposed in each sampling storage box (10).
9. An underwater laser ice breaking method is characterized by at least comprising the following steps:
s1, bringing the underwater laser ice breaking device to a preset position below an ice layer through a diving device;
s2, establishing an ice breaking reference point between the laser emitting part and the ice layer through the reference positioning mechanism; and setting a point position for breaking ice;
s3, obtaining working condition parameters, wherein the working condition parameters comprise ice temperature, optical path, flow speed and flow direction of ocean current, seawater concentration and turbidity;
s4, selecting proper transmitting power P according to the time required by the task and the acquired working condition parameters; the method specifically comprises the following steps:
Figure FDA0003018115970000021
wherein: eta is the actual energy transmission efficiency of the laser through the seawater; r is a reflection coefficient; upsilon is the cutting speed; b is the width of the cutting seam; rho is sea ice density; t is the cutting thickness; c is the specific heat of ice; delta T is the temperature difference of the material when the material is heated to the melting temperature; l ismIs latent heat of fusion of the material; f is the proportion of the vaporized part;Lvis the latent heat of vaporization of the material.
10. The underwater laser ice breaking method according to claim 9, further comprising at least:
and S5, after the ice breaking is finished, collecting and storing the ice blocks.
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WO2001032990A1 (en) * 1999-11-01 2001-05-10 Laserthor Limited Rail cleaning method and apparatus
CN101474721A (en) * 2009-01-16 2009-07-08 深圳市木森科技有限公司 Laser processing method and laser machining apparatus
CN102581485A (en) * 2011-01-13 2012-07-18 深圳市光大激光科技股份有限公司 Laser welding device
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