CN-122009449-A - A imitative tiger whale unmanned underwater vehicle crowd for breaking ice

CN122009449ACN 122009449 ACN122009449 ACN 122009449ACN-122009449-A

Abstract

The invention discloses a tiger whale imitating underwater unmanned submarine vehicle group for breaking ice, and belongs to the technical field of ice breaking. The submarine comprises a ship body, a power system and a control system which are arranged in the inner cavity of the ship body, and a sonar module, a communication module, a propeller, a left rudder, a right rudder and a tail rudder which are arranged outside the ship body. The power system provides energy for the submarine, the propeller provides advancing thrust for the submarine, the sonar module detects floating ice and external environment information and feeds back the information to the control system for processing so as to acquire information such as an ice breaking route, ice breaking depth and the like, the control system controls the submarine to adjust the gesture and advance, the tail rudder generates sunken waves to move along with advancing of the submarine, and accordingly non-contact ice breaking is carried out on the floating ice through the sunken waves. The communication module can establish communication connection among the submarines when the submarines are broken. The invention realizes non-contact low-noise hidden ice breaking by utilizing the response characteristic of wave impact on the floating ice layer and a fluid-solid coupling mechanism of wave and floating ice layer.

Inventors

YUAN WEIZHENG
FAN BOWEN
ZHOU WENYUAN
HUANG SHIQI
AN JIALE
ZHANG YULIANG
HE YANG

Assignees

西北工业大学

Dates

Publication Date: 20260512
Application Date: 20260213

Claims (10)

1. An imitation tiger whale underwater unmanned submersible vehicle for breaking ice, comprising: The warship body is shaped like a tiger whale and is provided with a wedge-shaped structure, and a cavity is formed in the warship body; The power system and the control system are both carried in the cavity of the ship body, the power system is used for providing energy for the submarine, and the control system is used for controlling the submarine to work; The sonar module is arranged on the wall surface above the ship body and is used for detecting floating ice information and feeding the information back to the control system; the communication module is arranged on the upper wall surface of the ship body and is electrically connected with the control system, and the communication module is used for establishing communication connection with an external control end and communication connection with other submarines so as to perform cooperative work of the submarines; The propeller group is electrically connected with the power system and is used for converting energy provided by the power system into thrust for driving the submarine craft to travel; and the rudder wing is arranged outside the ship body, is electrically connected with the control system and is used for adjusting the advancing posture of the submarine and enabling the submarine to generate concave waves when advancing underwater.
2. The simulated tiger whale underwater unmanned submersible vehicle for breaking ice according to claim 1, wherein the rudder wings comprise a left rudder, a right rudder and a tail rudder, wherein the left rudder and the right rudder can be respectively installed at the left side and the right side of the ship body in an up-down turning angle, the left rudder and the right rudder provide required moment for turning, floating and sinking of the submersible vehicle, the tail rudder can be vertically swung and installed at the tail of the ship body, the tail rudder is used for balancing the posture of the submersible vehicle and generating waves in the traveling process of the submersible vehicle, the left rudder, the right rudder and the tail rudder are respectively and electrically connected with a power system, the power system provides energy, and the left rudder, the right rudder and the tail rudder are respectively and electrically connected with a control system, and the control system controls the actions of the left rudder, the right rudder and the tail rudder.
3. The simulated tiger whale underwater unmanned submersible vehicle for breaking ice of claim 2 wherein the cross section of the tail rudder along the course is an isosceles triangle, the bottom side of the isosceles triangle is hinged with the tail of the ship body, and the pitching angle of the tail rudder swinging up and down is +/-30 degrees.
4. The simulated tiger whale underwater unmanned submersible vehicle for breaking ice of claim 1 wherein the propeller set comprises a left propeller and a right propeller which are symmetrically arranged at the rear side of the bottom of the ship body, and both propellers are electrically connected with a power system.
5. The simulated tiger whale underwater unmanned submersible vehicle for breaking ice of claim 1 wherein the upper wall of the warship body is an inclined surface with an inclination angle of 15 ° relative to the central horizontal plane of the warship body and the bottom wall of the warship body is a drag reducing streamline profile structure.
6. The simulated tiger whale underwater unmanned underwater vehicle group for breaking ice, which comprises a plurality of simulated tiger whale underwater unmanned underwater vehicles for breaking ice according to any one of claims 1-5, and is characterized in that all the unmanned underwater vehicles are in communication connection through respective communication modules, one of the unmanned vehicles is used as a carrier, the other unmanned vehicles are used as a sub-carrier, and the carrier sends a collaborative operation instruction to the sub-carrier through the communication modules.
7. A method for breaking ice by using the simulated tiger whale underwater unmanned submersible vehicle for breaking ice according to any one of claims 1 to 5, which is characterized in that the method comprises the following steps: the external control end sends an icebreaking instruction to the submarines, and starts each submarines to enter a working state; The control system of the submarine is started up to a sonar module, and the sonar module detects the floating ice information and feeds the floating ice information back to the control system for processing; the control system collects data and processes the data to obtain an analysis result, wherein the analysis result comprises an optimal path for breaking ice, the ice breaking depth of an ice breaking area, the ice breaking gesture and the ice breaking speed; The control system sends a command to the power system according to the analysis result, and the power system outputs the power required by breaking ice to the propeller group; the control system controls the left rudder and the right rudder to an initial lifting angle to provide oblique lifting force for the ship body, controls the tail rudder to incline downwards to set an angle, and controls the submersible vehicle to lock the ice breaking depth and enter the ice breaking gesture; The control system controls the submarine to travel to the floating ice at a constant speed according to the calculated ice breaking speed and the ice breaking path, concave waves generated above the tail rudder travel along with the submarine to continuously act on the bottom of the floating ice, and when the concave waves reach the front edge of the floating ice, the front edge of the floating ice is subjected to brittle fracture under the combined action of gravity and the concave waves; In the process of breaking ice, the sonar module continuously detects floating ice information, and when the thickness of the ice layer is detected to exceed the current impact range of breaking ice by concave waves, the ice breaking depth, the ice breaking speed and the tail rudder dip angle of the submersible vehicle are adjusted by the control system.
8. The method of claim 7, wherein when a plurality of submarines form a submarines group for breaking ice, each submarines comprises a carrier and other submarines, the carrier controls the submarines to cooperatively work, the carrier sends a cooperative ice breaking operation instruction to each submarines through a communication module, and the submarines group are arranged at equal intervals in a straight line shape for breaking ice.
9. The method of claim 8, wherein the collaborative ice breaking command comprises an optimal path for breaking ice, an ice breaking depth of an ice breaking area, an ice breaking gesture, an ice breaking speed and each sub-warship formation position calculated by a carrier control system according to the floating ice information detected by the sonar module.
10. The method according to claim 7, wherein the ice breaking depth is calculated according to the thickness of the floating ice detected by the sonar module and a non-contact ice breaking distance, and the non-contact ice breaking distance is the distance between the top of the submarine and the bottom of the floating ice when the ice is broken, and is 1-2 meters.

Description

A imitative tiger whale unmanned underwater vehicle crowd for breaking ice Technical Field The invention relates to the technical field of ice breaking, in particular to a tiger whale imitating underwater unmanned submarine vehicle group for ice breaking. Background As global climate warms, arctic routes become potentially important trade routes, and there is increasing interest in ice breaking research. The traditional method comprises the steps of using an icebreaker to strike, breaking ice by means of kinetic energy, using gravity of an object on ice to break ice, using sea waves generated in the movement process of a submarine or an air cushion ship to break ice through bending gravity waves coupled with ice water, or using explosives, chemicals and heat absorbing materials to act on the ice surface of floating ice to break ice directly, wherein the means have the defects of low ice breaking efficiency, poor concealment, high noise, high cost and the like. Inspired by the Type B tiger whale group through the sea dog on the ice-breaking hunting floating ice, the mode of generating obvious concave waves on the free surface through the high-speed motion of the underwater object to break the floating ice has feasibility, inspired by the Type B tiger whale group, the underwater unmanned underwater vehicle group for extremely breaking ice is designed to realize underwater ice breaking, and the ice breaking method has the advantages of good trace hiding property, low unmanned cost and high remote control cooperativity, and is expected to become a novel non-contact ice breaking method. Disclosure of Invention The technical problems to be solved are as follows: In order to avoid the defects of the prior art, the invention provides an imitation tiger whale underwater unmanned submersible vehicle group for breaking ice, which is characterized in that the imitation tiger whale underwater unmanned submersible vehicle group is designed, a plurality of submersible vehicles form the submersible vehicle group, the imitation tiger whale group is used for breaking ice underwater in extremely low environment, and the non-contact and low-noise hidden ice breaking is realized by utilizing the response characteristic of wave impact on a floating ice layer and a fluid-solid coupling mechanism of wave and floating ice layer action. The invention has the technical scheme that the simulated tiger whale underwater unmanned underwater vehicle for breaking ice comprises the following components: The warship body is shaped like a tiger whale and is provided with a wedge-shaped structure, and a cavity is formed in the warship body; the power system and the control system are both carried in the cavity of the ship body, wherein the power system is used for providing energy for the submarine, and the control system is used for controlling the submarine to work; The sonar module is arranged on the wall surface above the ship body and is used for detecting floating ice information and feeding the information back to the control system; the communication module is arranged on the upper wall surface of the ship body and is electrically connected with the control system, and the communication module is used for establishing communication connection with an external control end and communication connection with other submarines so as to perform cooperative work of the submarines; The propeller group is electrically connected with the power system and is used for converting energy provided by the power system into thrust for driving the submarine craft to travel; and the rudder wing is arranged outside the ship body, is electrically connected with the control system and is used for adjusting the advancing posture of the submarine and enabling the submarine to generate concave waves when advancing underwater. The rudder wing comprises a left rudder, a right rudder and a tail rudder, wherein the left rudder and the right rudder can be respectively installed at the left side and the right side of a ship body in an up-down turning angle, the left rudder and the right rudder provide required moment for turning, floating and sinking of the submarine, the tail rudder can be vertically swung and installed at the tail of the ship body, the tail rudder is used for balancing the posture of the submarine and generating waves in the advancing process of the submarine, the left rudder, the right rudder and the tail rudder are respectively and electrically connected with a power system, the power system provides energy, the left rudder, the right rudder and the tail rudder are respectively and electrically connected with a control system, and the control system controls the actions of the left rudder, the right rudder and the tail rudder. The invention further adopts the technical scheme that the section of the tail rudder along the course is an isosceles triangle, the bottom side of the isosceles triangle is hinged with the tail of the ship body, and the pi