Our reference: 2012.06DE 13.08.2012 ATLAS ELEKTRONIK GmbH Sebaldsbrjcker HeerstraBe 235, 28309 Bremen Device and method for mining solids on the seabed The invention concerns a device for the maritime mining of solids, especially minerals or metalliferous rocks, such as manganese nodules or manganese crusts on the seabed, pursuant to the preamble of claim 1 and a corresponding method for mining solids on the seabed in accordance with the preamble of Claim 11. 5 Various raw materials can be found on the seabed whose extraction has become worthwhile, especially due to rising commodity prices. From the state of the art is known a large number of devices available for removing solids from the seabed. For example, ships are equipped with excavator equipment known from the mining 10 industry that mine the sea floor from the ship. The disadvantage here is that the seabed can only be mined at shallow depths. Normally manganese nodules, for example, lie on the deep seabed, i.e. at depths of 3000-6000 m., manganese crusts, on the other hand, can be found mainly on undersea 15 ridges and mountains at water depths of 800-2400 m. DE 28 47 325 Al depicts a device with which solids can be gathered by means of a suction device and pumped upwards with a large amount of sea water. However, such a mining method is uneconomical due to the large amounts of seawater and sediments 20 that are pumped along with the solids into a production vessel. DE 29 50 922 Al depicts another method and an device for manganese nodule mining on the seabed. The overall system is divided into an above-water subsystem and an underwater subsystem. The underwater subsystem is comprised of a mobile, controllable 25 vehicle for picking up, washing and crushing the manganese nodules. Furthermore, the -2 underwater subsystem includes a buffer for temporarily storing the collected, crushed manganese nodules separated from sediments that are transported from here to the water surface. The above-water subsystem is comprised of a vessel which receives the manganese nodules and performs operational control tasks and maintenance of the 5 underwater subsystem. To monitor the mining procedure, the underwater subsystem is equipped with cameras with which an operator on the surface ship can sense the environment and control the mining vehicle accordingly. The disadvantage here, however, is that churned sand or mud obstruct the view considerably and thus prevent any large scale monitoring of the mining area with the cameras that accompany the mining vehicle. 10 It follows that the invention is to solve the underlying problem of improving the device and method for mining solids in such a way that seabed mining of solids can be carried out more efficiently. 15 The invention solves this problem by the characteristics of a device for mining of solids on the seabed pursuant to Claim 1, and a corresponding method for mining solids with the characteristics of Claim 11. The device according to the invention thereby includes an above-surface facility, in 20 particular a surface ship or a surface platform, at the water surface. Furthermore, the device according to the invention is comprised of a mobile mining unit, especially a suction unit, a sweeper or a drilling and dredging system, on the seabed which is equipped with means for mining solids, in particular manganese nodules or manganese crusts. 25 Solids are understood as solid materials that can be mined as raw materials on the seabed. Besides the minerals, these include inclusion compounds, so-called gas hydrates, that can also be found on the seabed and mined in the solid state to be used as an energy source. The mining of such solids is carried out within a predetermined mining area on the seabed. Mining is thereby not limited to solids located on the seabed 30 but also solids that can be found below the seabed, for example in deeper layers of rock. The above-surface facility and the mining unit are connected via fastening devices, data lines and/or feed lines which require permanent feeding of the above-surface facility. To allow for the most efficient possible mining of solids, the mining unit is -3 preferably equipped with systems for washing and/or grinding solids so that as few undesired amounts as possible, such as mud, sand or the like, are transported from the seabed via the mining unit's feed lines to the above-surface facility. 5 The device according to the invention also has a separate reconnaissance vehicle, which includes means for controlling the mining unit and/or monitoring the mining area and/or the mining procedure. Controlling is understood as the directed control of the mining unit's movements. 10 The advantage of this device therefore is that this kind of reconnaissance vehicle lets you control the mining procedure over the entire mining area and permits corrective intervention in the mining procedure at any time. Direct control of the mining unit for controlling the entire mining process is advantageous, whereby the mining of solids is especially efficient. 15 In a preferred embodiment of the invention, the reconnaissance vehicle is an unmanned underwater vehicle, which can be controlled by means of a control device according to predetermined control information and in an autonomous mode or a remote-controlled mode. The reconnaissance vehicle's configuration as an unmanned 20 underwater vehicle advantageously permits access to marine regions that are not directly accessible to humans, such as deep-sea regions. The fact that the unmanned underwater vehicle is optionally controlled in autonomous or remote-controlled modes, not only permits underwater tasks with large scale need 25 for information but also selective analyses by a single unmanned underwater vehicle. The autonomous mode permits autonomous mining of solids on the seabed via the mining unit's control unit. According to a n additional preferred embodiment of the invention, the reconnaissance 30 vehicle has means, in particular at least one sonar system, for collecting surface data from the seabed surface. This can be, for example, a side scan sonar or a multibeam echosounder, possibly supported by a video system. A detailed above-surface topography and soil map of the seabed and/or a three-dimensional model of the -4 environment, which is required for mining massive sulfides or manganese crusts, can be preferably created based on this data. Normally, above-surface data of the seabed within a mining area are recorded by the 5 above-surface facility from the water surface before mining. However, the advantage of recording above-surface data from a separate reconnaissance vehicle is that this kind of analysis is also possible during mining. The advantage is that new mining areas can already be determined during mining and/or ongoing mining can be monitored. 10 Furthermore, the surface data contain too little resolution when recording deep-sea data from the water surface. However, the advantage of having a reconnaissance vehicle as an unmanned underwater vehicle is its ability to provide higher quality recordings of surface data since this kind of reconnaissance vehicle can move close to the bottom of the seabed. 15 Another preferred version of the invention also includes means for classifying the seabed based on the collected surface data. For exploration, this may involve, for example, image analysis or the evaluation of specific reflection from echosounder systems. It is also possible to use special neuro -processors for exploration as well. 20 The classification is used to determine whether any mining in the area under investigation is economically feasible. Since mining solids is only considered to be economically viable from a certain mass per m2, it is beneficial to first determine the amount of exploitable solids available on the seabed. 25 Another preferred embodiment of the invention also includes means for determining position data and/or data of the mining unit's route based on the collected surface data. Efficient mining of solids is possible by defining the mining unit's route based on the surface data since mining only takes place on those locations of the seabed where a predetermined amount of exploitable solids is available and mining is also economically 30 feasible. The reconnaissance vehicle is thus advantageously able to monitor the mining area and/or find new profitable mining areas using on-board sonars.
-5 If the route is also determined during the mining itself based on the collected surface data of the seabed, it is also possible to correct the route of ongoing mining operations thereby increasing the efficiency of mining as well. 5 In another preferred embodiment of the invention, the mining unit and the reconnaissance vehicle each are quipped with a docking device that is configured to allow the reconnaissance vehicle to be coupled to and from the mining unit underwater. Coupling and uncoupling of the reconnaissance vehicle is preferably done automatically and also possible during an ongoing mining procedure. This kind of a docking device 10 allows direct control or guidance of the mining unit by the reconnaissance vehicle. In another version of the invention, the docking device is equipped with means for exchanging data and/or controlling the mining unit. To this end, the docking device preferably includes a detachable data transfer interface to establish a signal connection 15 between the reconnaissance vehicle and the mining unit. This kind of a docking device, which enables the exchange of data between the reconnaissance vehicle and the mining unit, is an autonomously functioning system that mines solids on the seabed independent of an above-surface ship or platform on the water's surface. 20 Furthermore, the invention's docking device is also equipped with means for receiving power. The reconnaissance vehicle is powered or recharged by the mining unit via the docking device to increase the range of the reconnaissance vehicle under water. Power transmission from this kind of energy transfer interface of the docking device occurs, for example, galvanically, i.e. via one or more galvanic contacts. However, 25 energy transfer can also take place without contact, especially by induction. The power transmission interface includes inductive power transmission media for this purpose. Another preferred embodiment of the invention equips the mining unit and/or reconnaissance vehicle with a navigation system for generating navigation data. 30 If the mining unit has its own navigation system, then this can automatically transmit its location to the above-surface facility at predefined time intervals so that this can follow the mining unit.
-6 If the reconnaissance vehicle has its own navigation system, then it can act autonomously. The navigation data can be collected, for example, using a special terrain mapping method for displaying terrain contours by comparing the surface data of the seabed obtained from 5 the reconnaissance vehicle with an accompanying map for orientation purposes. However, the navigation data can be collected by using balefires that are dropped at predetermined positions. For this, the balefires, also called beacons, are deposited to mark a specific area. 10 According to another preferred embodiment of the invention, the device includes means for synchronizing the mining unit's navigation with the reconnaissance vehicle's navigation data, namely in case both the system and the vehicle are equipped with their own satellite navigation systems. Synchronization allows for close cooperation of 15 the individual components on the invention for mining solids from the seabed, namely from the reconnaissance vehicle, the mining unit and the above-surface facility. In another preferred embodiment of the invention, the mining unit is equipped with its own drive. It thus represents a movable vehicle on the seabed or floating above the 20 seabed and is able to move according to predetermined or determined position data and/or data from a route accordingly. Furthermore, the invention solves the aforementioned problem using a procedure for mining solids from the seabed by means of a above-surface facility on the water surface 25 and a mining unit on the seabed. The method according to the invention is also equipped with a reconnaissance vehicle which controls the mining unit and/or monitors the mining area. The implementation of the exploration and mining of solids within a system ensures that the method according to the invention is particularly feasible. Monitoring the mining area or the mining procedure also allows for a timely correction of the mining procedure. 30 According to another preferred embodiment of the invention, the method according to the invention for monitoring the mining area includes a first sensor on the reconnaissance vehicle, which metrologically records the not yet processed mining area, and a second sensor, which records the already processed mining area. A direct -7 comparison of the surface data collected by both sensors provides information on whether the mining unit has processed or omitted an area on the seabed several times and permits efficient mining because corrective action can be taken immediately on the mining unit, in particular by correcting the route. 5 In another preferred embodiment of the invention, a new exploration of a subsequent mining area is carried out by the reconnaissance vehicle to determine the new position data and/or new route data for the mining unit during a mining procedure. This has the advantage that mining can proceed directly from one mining area to a next mining area 10 with no loss of time and forward-looking planning is possible for the mining procedure. According to another preferred embodiment of the invention, the above-surface facility is controlled indirectly by the reconnaissance vehicle whereby the mining unit is controlled by the reconnaissance vehicle and the current position data of the mining 15 unit is transmitted to the above-surface facility. Other beneficial embodiments of the invention result from the dependent claims and the more closely described exemplary embodiments based on the drawings. It is shown in the drawing: 20 Fig. 1 a schematic illustration of a facility for mining manganese nodules according to the state of the art, Fig. 2 a schematic illustration of a facility for mining manganese crusts according to 25 the state of the art, Fig. 3 a reconnaissance vehicle based on an exemplary embodiment of the invention and 30 Fig. 4 a schematic illustration for explaining the method according to the invention. The devices illustrated in fig. 1 and fig. 2 for mining solids, especially minerals or metalliferous rocks, within a single mining area each have an above-surface facility 2 -8 on the water surface 4 and a mining unit 6 on the seabed 8. The above-surface facility 2 and the mining unit 6 are connected via a pipe run 10. The pipe run 10 includes a conveyor system, in particular an air lift system or pump 5 system to transport the mined solids through the water column, as well as special cables for the power supply, data transmission and remote control system. The mining unit 6 according to Fig. 1 represents a collector system for mining manganese nodules 12. Preferably, the mining unit 6 is a crawler type vehicle with its 10 own drive, which features flexible delivery hoses 14 to connect it to the pipe run 10. But floating mining facilities 6 are also conceivable which measure or collect the manganese nodules 12 without touching the seabed 8. The mining unit 6 in Fig. 2 shows an example of mining massive sulfides or 15 manganese crusts 16 using a removal system, in particular a drilling and suction dredger system. Also conceivable is the use of a cutter dredger with a milling head on the head of a suction line. Preferably, the mining unit according to the invention is a system which controls both 20 mining procedures in fig. 1 and fig. 2 and can not only collect manganese nodules 12 but also mine massive ores 16 from the seabed 8. It is equipped with its own drive system and possibly its own navigation system, which is able to determine the current position of the mining unit 6 in order to transfer this info to the above-surface facility 2 so that it can follow the mining unit 6. 25 The device according to the invention for mining solids on the seabed 8 not only includes an above-surface facility 2 at the water surface 4 and a mining unit 6 on the seabed 8, as required by the state of the art, but also a reconnaissance vehicle 20, which is equipped with the means for controlling the mining unit 6 and/or monitoring 30 the mining area. In the embodiment shown in Fig. 3 the reconnaissance vehicle 20 is an unmanned underwater vehicle. In the front region, the reconnaissance vehicle 20 features a high resolution camera 22 and its own light sources 24. Furthermore, the reconnaissance -9 vehicle 20 features an advance sonar 26 for the remote detection of obstacles, a side scan sonar 28 respectively on both sides of the reconnaissance vehicle 20 and possibly a multibeam echosounder, shown in Fig. 3 by suggested, fan-shaped solder jets 34. An acoustic modem 30 and/or a VHF transponder 32 as well as other data 5 transmission systems, such as radio and Wi-Fi, are used to transmit the obtained information to the above-surface facility 2 when not submerged. A separate drive system 36 with a control device allows it to maneuver under water. In order for the reconnaissance vehicle 20 to act autonomously as well, the reconnaissance vehicle 20 is equipped with its own separate navigation system. 10 Furthermore, the reconnaissance vehicle 20 according to the invention and the mining unit 6 according to the invention each have a docking device 38 for coupling the reconnaissance vehicle 20 to the mining unit 6. The docking device 38 is either attached to the reconnaissance vehicle 20 or the mining unit 6, or, however, is part of 15 the reconnaissance vehicle 20 or part of the mining unit 6. The coupling is primarily for data exchange and the power supply. For this purpose, the docking device 38 is equipped with a data transmission interface and a power transmission interface. The power transmission interface automatically establishes an electrical connection 20 between the docking device 38 on the reconnaissance vehicle 20 and the docking device on the mining unit 6 when these are coupled together. The reconnaissance vehicle 20 can thus be supplied with electrical power via the docking device 38 on the mining unit 6 to, for example, recharge the batteries of the reconnaissance vehicle 20. The mining unit 6 is thereby electrically connected to the above-surface facility 2 via the 25 special cable in the pipe run 10. The data transmission interface establishes a connection signal or data connection between the reconnaissance vehicle 20 and the mining unit 6 when these are coupled together. The mining unit 6 can thus be directly supplied with exploration data and thus 30 with data regarding any route changes. The mining unit 6 can be controlled by the reconnaissance vehicle 20 via the docking device 38. However, the invention is not limited to data transmission via a data transmission interface on the docking device 38. Rather, any transfer techniques for data -10 transmission between the reconnaissance vehicle 20 and the mining unit 6 can be used which are suitable for underwater operation. The docking device 38 of the reconnaissance vehicle 20 shown in Fig. 3 forms the 5 active part of a coupling system. The mining unit 6 represents the corresponding passive part of the coupling system so that the coupling or uncoupling procedures act like a plug and a socket. The coupling takes place automatically, preferably purely mechanically, for example with a snap-on cap. Uncoupling, on the other hand, is done by means of a release mechanism whereby the coupling lock is released, for example, 10 electromagnetically or by an electric motor in response to command signals or electrical signals. However, the invention is not limited to the embodiment of the docking device 38 shown in Fig. 3. Rather, any embodiments are possible which allow attachment or 15 detachment of the reconnaissance vehicle 20 to or from the mining unit 6 under water, especially in the deep sea. In order to effectively mine solids, it is necessary to monitor the mining itself. It is beneficial to use sensors attached to the reconnaissance vehicle 20 and possibly 20 cameras as well to analyze the entire mining area and analyze its ore and metal content and thus make identification of mineable zones possible. A corresponding classification is possible based on the metrologically recorded surface data of the seabed 8. The reconnaissance vehicle 20 is equipped with the appropriate means for this 25 purpose, such as means for recording the backscatter properties of the echosounder system, in order to record frequent, often substantial fluctuations in the surface density of manganese nodules and to mark corresponding zones in the mining area where mining appears less worthwhile. 30 The same applies for identifying the metal content of the metalliferous rocks, such as the manganese crusts for example. Gamma rays or ultrasound, for example, are used to measure the crustal thickness in order to effectively identify the exploitable amount.
- 11 Furthermore, the invented device is equipped with means for determining position data and/or data of the mining unit's 6 route. Such a means is used to plan the mining procedure. The position data, which characterizes the starting position of the mining unit 6, can be determined based on the identified surface data and the classification data. 5 Furthermore, the corresponding data are determined for the mining unit's 6 route based on the identified surface data and the classification data whereby mining only takes place in the zones with exploitable solids in amounts sufficient to operate economically. 10 After collecting the data necessary for mining, it is transmitted either via the above surface facility 2 to the mining unit 6, after the reconnaissance vehicle 20 has transmitted the data to the above-surface facility 2, or the reconnaissance vehicle 20 transmits the data necessary for mining directly to the mining unit 6. Transmission can thereby take place via the docking device 38 or wirelessly. 15 Additional exploration data necessary for mining within another potential mining area is already recorded for especially effective mining of solids on the seabed 8 during the mining procedure within a mining area. 20 Fig. 4 shows a block diagram that explains the method according to the invention for mining solids on the seabed 8. First, exploration 40 is carried out by the sensors attached to the reconnaissance vehicle 20, in particular, side scan sonar 28 and/or multibeam echosounder 29, and any existing camera 22. A classification occurs based on the surface data collected by the sensor data of the seabed 8, for example via 25 image analysis or by measuring the backscatter behavior of the echosounder signals that identify the ore and metal content and thus detect mineable zones on the seabed 8. A classification of the region to be examined is also possible with the use of neuro processors for implementing artificial neural networks. The exploration 40 is also helpful for mapping the topography and surface data properties as well as proving 30 evidence on the nodule surface density or the manganese crust density. To mine massive sulfides or manganese crusts it is necessary to record the surface data of the seabed 8 as a three-dimensional model. Multibeam echosounder-signals, together with video signals, are preferred to be processed to a corresponding 3D model.
-12 The surface data of the measured seabed 8 are transmitted as exploration data 42 together with the classification results to a module 44 for planning the mining procedure. The exploration data 42 include, for example, the surface density, nodule size, metal content, the sea floor terrain texture and sea floor conditions, water depth, and the like. 5 This kind of a module 44 for the planning is preferably located within the reconnaissance vehicle 20. However, it is nevertheless possible to transmit the exploration data 42 of the mining unit 6 or the above-surface facility 2 if these are equipped with a corresponding module 44 for planning the mining procedure. 10 The precise position data 46 for the mining unit 6 are then determined within the module 44 and a route 48 for the mining unit 6 is defined according to the exploration data 42. A next method step for mining solids involves a guiding 50 or controlling 50 the mining 15 unit 6. The mining unit 6 can be guided 50 from the above-surface vessel 2 after it has received the exploration data 42 or the position data 46 and the data of the route 48 from the reconnaissance vehicle 20. The mining unit 6, however, is preferably guided 50 directly by the reconnaissance 20 vehicle 20. The control operation influences the mining unit's 6 movement in a targeted manner. The position data 46 and the route data 48 are transmitted directly to the mining unit 6 as necessary information for the control process. For this purpose, the data 46, 48 is transmitted wirelessly or via the communication interface of the docking device 38. 25 Because of its own drive and its own navigation system, the mining facility 6 is able to assume its position on the seabed 8 in accordance with the position data 46 and perform the mining operation along the determined route 48. Proper implementation, however, requires to synchronize the navigation system of the mining unit 6 with the navigation system of the reconnaissance vehicle 20. 30 If the mining unit 6, however, is guided 50 via the docking device 38, then you can also use the navigation system of the reconnaissance vehicle 20 from the mining unit 6. The advantage is that no synchronization of the navigation system is necessary.
- 13 If the mining unit 6 is guided directly by the reconnaissance vehicle 20, then the current location position data of the mining unit 6 is transmitted via the existing data lines in the pipe run 10 to the above-surface facility 2 so that the mining unit 6 can follow the specified route 48. As a result, not only is the mining unit 6 controlled by the 5 reconnaissance vehicle 20, but the above-surface facility 2 as well. Mining is done completely autonomously. In a next step, mining is checked 52 according to the method according to the invention. The check 52 is usually carried out at predetermined repeating intervals. If 10 you are using the mining unit 6 to do mobile mining using a mining suction unit or a sweeper, for example, then the reconnaissance vehicle 20 follows the mining unit 6 to check the mining procedure. The check 52 is preferably done via a first sensor and a second sensor. This can be, 15 for example, one respective side of a side view sonar 28 on the reconnaissance vehicle 20. In doing so, the reconnaissance vehicle 20 is moved in such a way that the first sensor identifies the not yet processed mining area and the second sensor detects the already processed mining area. A comparison of the two sensors based on the recorded surface data of the seabed 8 provides information about whether mining is 20 done according to plan. In the event that seabed areas 8 are mined twice by the mining unit 6 and/or are skipped, then the route is optimized, which is represented by a branch 54 in the block diagram in Fig. 4. Route optimization 54 provides the mining unit 6 with corrected position 46 and route data 48 in order to optimally proceed with mining. 25 If, however, it is a matter of stationary mining, for example using a dredger system for mining manganese crusts, the whole environment is recorded by the reconnaissance vehicle 20 to check 52 the mining procedure. Recording preferably takes place using sonar data, in particular using a side-view sensor 28, a multibeam echosounder 29 and video data 22. For this purpose, the video and sonar data are georeferenced and 30 broken down into small subunits. Corrective action can be taken in mining based on this data by transmitting corrected position 46 and mining data 48 to the mining unit 6 via the branch 54 of the block diagram in Fig. 4. These are thus able to continue mining in an optimized manner.
-14 The reconnaissance vehicle 20 carries out new explorations 56 to open up new mining areas in the vicinity in addition to checking the mining procedure. This way, new locations can be found even during the mining procedure to mine "profitable" areas for further mining. The new exploration data 58 are also transmitted to the module 44 for 5 planning the mining procedure, which calculates the corresponding position data 46 and route data 48 for the next mining area' All of the characteristics mentioned in the above description and in the claims can be used both separately and in any combination according to the invention. The 10 disclosure of the invention is therefore not limited to the described or claimed combinations of characteristics. Rather, all combinations of single characteristics are to be considered as disclosed.