CN110952984B

CN110952984B - Submarine mining vehicle with sinking state monitoring device

Info

Publication number: CN110952984B
Application number: CN201911165430.8A
Authority: CN
Inventors: 戴兵; 张雷; 陈英; 贺桂成
Original assignee: Nanhua University
Current assignee: Nanhua University
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2020-12-15
Anticipated expiration: 2039-11-25
Also published as: CN110952984A

Abstract

The invention discloses a submarine mining vehicle with a sinking state monitoring device, which is characterized in that ore pulp in a ballast tank is distributed more uniformly by the central layout of the ballast tank and a built-in rotating blade bar structure, excessive longitudinal gravity center deviation is avoided, the maximum pressure of a contact surface between a crawler and a submarine deposition layer is excessive, and serious sinking is caused, on the other hand, the sinking wheel is used for effectively measuring the position of an earth layer by combining a photoelectric sensor and an optical signal generator, so as to obtain the sinking depth of a vehicle body, the sinking depth of the front end and the rear end of the crawler of the submarine mining vehicle is hinged with the sinking wheel by swing rods positioned at the front end and the rear end, the sinking depth of the front end and the rear end of the crawler of the submarine mining vehicle is simply and effectively measured, the sinking depth of the vehicle body is prevented from being different due to the longitudinal gravity center deviation, so that the sinking is misjudged, and a, effectively reduce the center of gravity shift and subsidence caused by plane inclination.

Description

Submarine mining vehicle with sinking state monitoring device

Technical Field

The invention relates to the field of deep sea mining, in particular to a submarine mining vehicle with a sinking state monitoring device.

Background

With the exploitation and consumption of a large amount of mineral resources on land, people aim at the sea with wider area and richer resources, wherein metal nodules are an important mineral resource in the sea, contain dozens of metals such as manganese, iron, nickel, cobalt, copper and the like, have huge storage capacity, and are estimated to be 3 trillion tons of polymetallic nodule resources on the seabed in the world and are mostly stored in the deep sea of three thousand to six kilometers; the design of ocean resource collecting and transporting equipment is one of the key technologies for collecting and developing the deep sea resources; the deep sea sediment has the characteristics of high water-bearing property, high fluidity and high plasticity, the structure can be approximately seen as three layers, the surface layer is a suspended soil layer, the shear strength is almost zero, the second layer is a fluid plastic soil layer, the shear strength is approximately linearly changed along with the depth, the bottom layer is a hard bedrock, the shear strength of the device is approximately regarded as a fixed value and does not change along with the depth, the mining and transporting equipment runs on the deep sea bottom of the structure, the ground part is inevitably sunk into deep sea sediments, most of the existing equipment controls the sinking depth to be between the surface layer and the second layer of soil layer, however, when the deep sea resource mining and transporting equipment collects resources, the weight of the ore sand which is continuously collected is inevitably increased, the working process is contradictory with the control of the sinking depth, so how to monitor the sinking degree of the crawler and how to reduce the sinking depth of the mining and transporting equipment by using a proper method becomes an important subject of the design of the deep sea resource mining and transporting equipment.

The existing mining and transporting equipment mostly adopts a crawler-type structure, and the bearing pressure of a deep sea walking plane is reduced by a wide crawler contact surface so as to avoid serious settlement; however, the wider crawler belt inevitably brings the weight of the whole quality of the mining and transportation equipment, and the weight is partially offset with the effect of reducing the pressure intensity; meanwhile, the sinking depth of each point of the crawler-type structure is different due to unbalanced specific pressure of each point, so that another important factor for determining whether the deep sea mining and transporting equipment can work within the safe sinking depth is the point bearing the maximum pressure, and the maximum pressure point is related to the offset distance of the center of the gravity center of the mining and transporting equipment after ore sand loading, so that how to reduce the deviation of the gravity center of the mining and transporting equipment is also an effective means for reducing the deep sea sinking.

The invention discloses a skid state monitoring device for a deep sea mining vehicle, the deep sea mining vehicle and a skid monitoring method, wherein the skid state monitoring device comprises a control device, a track speed measuring device and a speed measuring land wheel, the actual running speed of the deep sea mining vehicle is measured by the monitoring device, the skid rate of the deep sea mining vehicle is calculated by the actual running speed and the theoretical speed of a driving wheel, the skid state is judged, and corresponding handling measures are given.

In order to solve the above technical problems, there is a need for a subsea mining vehicle with a submerged state monitoring device to solve the existing technical problems.

Disclosure of Invention

The invention provides a submarine mining vehicle with a settlement state monitoring device, which can effectively detect the settlement degree of a crawler-type submarine mining vehicle and can reduce the settlement problem of the submarine mining vehicle through simple structure and layout.

The invention is realized by the following technical scheme.

The utility model provides a seabed mining vehicle with sunken state monitoring devices, includes the control cabin, the ballast tank subassembly, mining vehicle chassis, subsidence measuring component, broken collection subassembly and track, its characterized in that, mining vehicle chassis bilateral symmetry distributes has the track, and fixed mounting has control cabin and ballast tank subassembly in its upper vehicle body, and the automobile body front end is broken collection subassembly, broken collection subassembly includes broken acquisition head to be connected with the ballast tank subassembly, subsidence measuring component is including surveying the wheel that caves in, survey the wheel that caves in install in seabed mining vehicle rear, and its left and right sides both ends symmetric distribution have a plurality of light signal generator and photoelectric sensor to detect optical signal and receive.

In the above embodiment, preferably, the ballast tank assembly comprises a ballast tank, the center of the ballast tank assembly is consistent with the gravity center position of the seabed mining vehicle when the seabed mining vehicle is unloaded, the ballast tank is of a net-shaped shell tank body structure, and the size of the net-shaped gap of the shell of the ballast tank is smaller than the size of the ore sand collected by crushing the crushing collecting head.

In the above embodiment, preferably, the ballast tank assembly further includes a rotating blade rod, the rotating blade rod is rotatably installed at the center of the bottom of the ballast tank, is connected with the driving motor outside the ballast tank, and is sealed with the ballast tank installation part through sealing glue.

In the above embodiment, preferably, the crushing and collecting assembly further comprises a collecting pump and a collecting hose, the collecting hose is connected with the collecting pump, the front end of the collecting hose is connected with the crushing and collecting head, and the rear end of the collecting hose is connected with the inlet of the ballast tank.

In the above embodiment, preferably, the crushing and collecting head is a hydraulic collecting type ore collecting head or a hydraulic mechanical combined type ore collecting head.

In the above embodiment, preferably, a plurality of long toothed plates are uniformly distributed on the surface of the track, a plurality of short toothed plates are uniformly distributed between adjacent long toothed plates, the height of each short toothed plate is smaller than that of each long toothed plate, and the track is driven by a built-in hydraulic station of the submarine mining vehicle.

In the above embodiment, preferably, the optical signal generator is an infrared generator, the subsidence measuring assembly further includes a first swing link, a second swing link, a first angle sensor, a second angle sensor and a cylinder, the first swing link and the second swing link are hinged to the subsidence measuring wheel, the first swing link is hinged to the center of the rear end of the mining vehicle chassis, the second swing link is slidably mounted on a sliding support at the front end of the mining vehicle chassis, the sliding support is hinged to the center of the front end of the mining vehicle chassis, the cylinder base is hinged to the rear end of the mining vehicle chassis, a cylinder push rod is hinged to the middle of the first swing link, the first angle sensor is mounted at the hinged position of the first swing link and the mining vehicle chassis, and the second angle sensor is mounted at the hinged position of the sliding support and the mining vehicle chassis.

Above-mentioned embodiment, the preferred still includes horizontal adjustment subassembly, horizontal adjustment subassembly includes gyroscope sensor and a plurality of spring cylinder, and the gyroscope sensor fixed mounting of telling is in mining vehicle chassis front end, and the even fixed mounting in seabed mining vehicle automobile body front end and rear end of a plurality of spring cylinder piston rods, and its base fixed mounting is in mining vehicle chassis, just spring cylinder is by the built-in hydraulic pressure station drive of seabed mining vehicle.

In the above embodiment, preferably, the underwater mining device further comprises a delivery hose, wherein the front end of the delivery hose is connected with the ballast tank, and the rear end of the delivery hose is connected with the submarine mining mother ship or the submarine mining aggregate bin.

In the above embodiment, preferably, the subsidence measuring assembly integrates data signals of the first angle sensor, the second angle sensor and the photoelectric sensor to obtain the approximate subsidence values of the front and rear ends of the undersea mining vehicle, and transmits the obtained numerical signals to the control cabin, the control cabin compares the subsidence threshold value according to the obtained maximum subsidence value to determine, and takes corresponding measures, the gyroscope sensor measures the pitching value of the chassis of the mining vehicle, transmits the obtained numerical signals to the control cabin, and controls the internal oil pressure of the spring oil cylinder through the control cabin.

Compared with the prior art, the invention has the beneficial effects that:

1) according to the invention, through the central layout of the ballast tank and the built-in rotating blade bar structure, ore pulp in the ballast tank is distributed more uniformly, and overlarge longitudinal center-of-gravity shift is avoided, so that the maximum pressure intensity of the contact surface of the track and a seabed sediment layer is overlarge, and serious settlement is caused;

2) the invention uses the sinking detection wheel to effectively measure the position of the soil layer through the combination of the photoelectric sensor and the optical signal generator so as to obtain the sinking depth of the vehicle body;

3) the invention carries out simplified approximate treatment on the problem of inconsistent track sinking depth caused by longitudinal gravity center offset by hinging the swing rods positioned at the front end and the rear end with the sinking detection wheels, simply and effectively measures the maximum sinking depth of the vehicle body by the structure, and avoids the misjudgment of sinking caused by inconsistent front and rear sinking depths;

4) according to the invention, through the horizontal adjusting assembly, the body of the submarine mining vehicle can be ensured to be in a substantially horizontal state when the submarine mining vehicle runs on a submarine deposition layer, and the gravity center of the submarine mining vehicle is prevented from shifting due to road conditions such as slopes and the like, so that the body of the submarine mining vehicle sinks.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a submarine mining vehicle track subsidence

FIG. 3 is a schematic view of a sag measurement assembly;

FIG. 4 is a schematic view of a structure of a trap detection wheel;

FIG. 5 is a schematic block diagram of subsidence monitoring;

FIG. 6 is a schematic view of a leveling assembly.

In the figure: 1. a control cabin; 2. a ballast tank assembly; 21. a ballast tank; 22. rotating the blade rod; 3. a mining vehicle chassis; 4. a subsidence measurement assembly; 41. a first angle sensor; 42. a second angle sensor; 43. detecting a sinking wheel; 44. a cylinder; 45. a first swing link; 46. a second swing link; 47. an optical signal transmitter; 48. a photosensor; 49. a sliding support; 5. a crushing collection assembly; 51. crushing the collecting head; 52. a collection pump; 53. an aggregate hose; 6. a crawler belt; 61. a long toothed plate; 62 a short toothed plate; 7. a delivery hose; 8. a level adjustment assembly; 81. a gyroscope sensor; 82. and a spring oil cylinder.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

As shown in fig. 1 to 3, the invention provides a subsea mining vehicle with a subsidence monitoring device, comprising a control cabin 1, a ballast tank assembly 2 and a crushing and collecting assembly 5, the subsea mining vehicle being controlled via the control cabin 1, the crushing and collecting assembly 5 crushes the seabed mineral aggregate through the sinking movement of the crawler belt 6 in the seabed sedimentary deposit, and the mixed liquid of the crushed mineral aggregate and water is pumped to a ballast tank component 2 for mineral aggregate collection, a rotary blade rod 22 is arranged in the ballast tank component 2, so that the ore sand in the ballast tank 21 is uniformly distributed, the longitudinal gravity center of the undersea mining vehicle is prevented from shifting too much after collecting and carrying the ore sand, the vehicle body is prevented from sinking more seriously, meanwhile, the submarine mining vehicle is also provided with a subsidence measuring assembly 4, the subsidence of the crawler 6 of the submarine mining vehicle is approximately estimated and detected through the subsidence measuring assembly, and the blockage of the submarine mining process caused by the fact that the subsidence of the crawler 6 exceeds a preset safety value can be effectively avoided.

The following are specific examples:

as shown in fig. 1 and 2, the overall structure of the invention mainly comprises a control cabin 1, two crawler belts 6, a vehicle chassis 3 and a crushing collection assembly 5, wherein two crawler belts 6 are symmetrically distributed on the lower part of the vehicle floor 3, so as to avoid sinking and slipping of deep sea sedimentary layers, the crawler belts 6 have a large ground contact area, and the structure is different from the structure of the crawler belts of a land mining vehicle: the seabed settled layer can be approximately regarded as a three-layer structure, the sinking depth of the seabed mining vehicle needs to be controlled between a surface layer and a sublayer, the shearing force of the surface layer of the settled layer is almost zero, the shearing force of soil of the sublayer increases linearly along with the depth increase, so the contact area between the crawler belt 6 and the sublayer soil needs to be enlarged, the serious slipping phenomenon when the crawler belt 6 advances is avoided, the seabed advancing efficiency is influenced, a plurality of long toothed plates 61 are uniformly distributed on the surface of the crawler belt 6, a plurality of short toothed plates 62 are uniformly distributed between the adjacent long toothed plates 61, the crawler belt 6 is easier to insert into the seabed settled layer of a deeper layer, and effective driving force is provided; the submarine mining vehicle is driven by hydraulic pressure, the crawler belt 6 is connected with a hydraulic station in the submarine mining vehicle, and the hydraulic station is controlled by the control cabin 1 to drive the crawler belt 6 to run; the crushing and collecting assembly 5 comprises a crushing and collecting head 51, a collecting pump 52 and a collecting hose 53, wherein the crushing and collecting head 51 is a hydraulic collecting type ore collecting head or a hydraulic mechanical composite ore collecting head, is positioned at the front end of the vehicle body and is connected with the ballast tank assembly 2 positioned in the vehicle body through the collecting hose 53, the collecting pump 52 is connected with the collecting hose 53, the collecting pump 52 provides lifting power, and the mineral aggregate crushed and collected by the crushing and collecting head 51 is pumped into the ballast tank assembly 2 in the form of ore pulp; ballast tank subassembly 2 includes ballast tank 21, ballast tank 21 is for having the cabin body of netted shell, and its entry end and the installation of being connected of hose 53 that gathers materials, its exit end is put the collecting tank through defeated material hose 7 and mother ship or mother ship and is linked to each other, carries out the mineral aggregate, on the other hand and netted shell structure for when the ore pulp constantly gets into via hose 53 that gathers materials, when guaranteeing that the ore sand persists, the liquid in the ore pulp can circulate and discharge, alleviate whole weight, also help the control of mine car subsidence volume.

When the seabed mining vehicle runs on a seabed sediment layer, the sinking depth of the seabed mining vehicle needs to be controlled within a safety threshold; the flow plastic soil body layer of the seabed sedimentary layer is used as a main contact surface, the shearing strength and the depth of the flow plastic soil body layer are in a linear relation, so that the sinking depth of the seabed mining vehicle depends on the maximum contact pressure point of the crawler belt 6 and the surface of the seabed sedimentary layer, the overall quality of the seabed mining vehicle is reduced or the projection area of the crawler belt is increased, the average pressure of the contact surface can be reduced, but the maximum contact pressure cannot be effectively controlled; as the pulp continuously enters the ballast tank 21, the overall centre of gravity of the vehicle of the subsea mining vehicle is shifted, wherein especially the longitudinal shift of the centre of gravity in the direction of travel causes a large amount of deviation between the contact pressure of the caterpillar 6 and the average pressure, and as the overall subsea mining vehicle is symmetrically arranged, the effective influence caused by the deviation of the transverse centre of gravity is ignored, and the simplified calculation formula of the maximum pressure value is as follows:

wherein p is_maxThe maximum pressure value of the contact surface is G, the gravity and buoyancy difference borne by the submarine mining vehicle and the internal ore pulp are B, the width of the crawler belt 6 is L, the length of the crawler belt 6 is L, and e is the longitudinal gravity center deviation of the submarine mining vehicle.

According to the maximum pressure simplified calculation formula, when the longitudinal gravity center deviation is overlarge, the part of the crawler belt 6 far away from the gravity center is not stressed, the pressure intensity close to the center is increased sharply, and the sinking condition is aggravated; therefore, when the gravity difference and the overall dimension of the crawler belt 6 cannot be controlled and changed, the control of the longitudinal gravity center deviation becomes an effective means for controlling the sinking depth of the submarine mining vehicle.

As shown in fig. 1, the ballast tank 21 is located inside the vehicle body, and when the subsea mining vehicle is empty, the ballast tank 21 coincides with its center of gravity; the ballast tank component 2 further comprises a rotating blade rod 22, wherein the rotating blade rod 22 is installed in the middle of the ballast tank 21, is connected with a rotating motor, and continuously rotates in the ballast tank 21 to drive ore pulp in the ballast tank 21 to be uniformly distributed; when the submarine mining vehicle travels on an inclined plane of a submarine sedimentary layer, the conventional ballast tank causes ore pulp to be intensively distributed at the front end in the inclined direction, so that the longitudinal gravity center is deviated in the inclined direction, and the sinking depth of the submarine mining vehicle is further increased.

As shown in fig. 2 to 4, the submarine mining vehicle with a subsidence monitoring device further comprises a subsidence measuring assembly 4, the subsidence measuring assembly 4 comprises a subsidence measuring wheel 43, a first swing link 45 and a second swing link 46, the subsidence measuring wheel 43 is positioned behind the submarine mining vehicle and hinged with the first swing link 45 and the second swing link 46, the first swing link 45 is hinged with the middle part of the rear end of the mining vehicle chassis 3, the second swing link 46 is slidably mounted with a sliding support 49 in the middle part of the front end of the mining vehicle chassis 3, the sliding support 49 is hinged with the middle part of the front end of the mining vehicle chassis 3, the first angle sensor 41 and the second angle sensor 42 are respectively mounted at the hinged parts of the front end and the rear end of the mining vehicle chassis 3, a push rod at the front end of the air cylinder 44 is hinged with the middle part of the first swing link 45, a seat of the air cylinder is hinged with the rear end of the mining vehicle chassis 3, a plurality of optical signal generators 47 and photoelectric sensors 48 are uniformly distributed on the left side, and a complete light path is formed by the spoke gaps of the sinking detection wheel 43, and the optical signal generator 47 adopts an infrared ray generator which has strong impurity penetrating capability and avoids the floating impurities on the seabed sedimentary deposit from blocking the light path.

As shown in fig. 3 and 5, when the air cylinder 44 pushes the subsidence measuring wheel 43 to slowly move downwards to the settled bed, the photoelectric sensor 48 on the subsidence measuring wheel 43 can be combined with the first angle sensor 41 on the first swing link 45 and the diameter of the subsidence measuring wheel 43 to measure the height of the rear end of the mining vehicle chassis 3 from the settled bed due to the light path blocked by the soil layer, and the height of the front end of the mining vehicle chassis 3 from the settled bed is measured according to the second angle sensor 42 on the second swing link 46 and the size value of the mining vehicle chassis 3, so as to obtain the subsidence depth of the front end and the rear end of the mining vehicle; when the longitudinal gravity center of the submarine mining vehicle deviates and the deviation amount is within the controllable range, so that all points of the crawler 6 are stressed, the pressure values at all points of the contact surface can be approximately calculated as follows:

where x is the longitudinal offset distance from the center of the track 6, p_xThe pressure value of any point of the contact surface is G, the gravity and buoyancy difference borne by the submarine mining vehicle and the internal ore pulp are B, the width of the crawler belt 6, the length of the crawler belt 6 and e, and the longitudinal gravity center deviation of the submarine mining vehicle.

According to the above calculation formula, the longitudinal pressure values of the crawler 6 are linearly distributed, the end point close to the gravity center is the maximum value, the flow plastic soil body layer of the seabed sedimentary layer is used as the main contact surface, the shearing strength and the depth are also linearly related, so that the subsidence depth of the crawler of the seabed mining vehicle running on the seabed sedimentary layer can be simplified into a linear model, and the extreme values are positioned at two ends; the maximum subsidence depth of the submarine mining vehicle is approximately obtained according to the subsidence depths of the front end and the rear end obtained by the subsidence measuring assembly 4, the subsidence degree is judged according to a preset maximum subsidence threshold value when the submarine mining vehicle is designed, and when the maximum subsidence value approaches the subsidence threshold value, a control instruction is sent out through the control cabin 1, such as the mining vehicle is unloaded to reduce the gravity, a buoyancy adjusting device is started or a material conveying program is started to convey the ore pulp in the ballast cabin 21 to a material collecting cabin through a material conveying hose 7.

Further, when the submarine mining vehicle runs on a submarine sedimentary layer, if the submarine mining vehicle runs on a concave-convex plane or an upper slope and a lower slope, the load of the submarine mining vehicle is unbalanced due to the fact that the vehicle body is wholly inclined and ore sand in the ballast tank 21 is inclined, and particularly, the longitudinal gravity center deviation of the vehicle body and the sinking amount unbalance of the submarine mining vehicle are aggravated due to the fact that the vehicle body is wholly vertically pitched, so that the vehicle body needs to be kept in a horizontal state as much as possible when the submarine mining vehicle runs, the gravity center deviation unbalance of the vehicle body caused by the height fluctuation of the submarine sedimentary layer is relieved, and the contact pressure of each.

As shown in fig. 6, the horizontal adjustment assembly 8 comprises a gyro sensor 81 and spring cylinders 82, the gyro sensor 81 is fixedly mounted at the front end of the chassis of the submarine mining vehicle, the piston rods of the spring cylinders 82 are uniformly and fixedly mounted at the front end and the rear end of the bottom of the vehicle body, and the bases of the spring cylinders 82 are fixedly mounted at the chassis of the submarine mining vehicle, and are connected with the hydraulic station of the submarine mining vehicle by the spring cylinders 82, so that no additional hydraulic station is needed as the submarine mining vehicle adopts a hydraulic driving mode; the gyroscope sensor 81 is used for measuring the pitching angle of the chassis of the submarine mining vehicle and outputting a signal to the control cabin 1, and the control cabin 1 adjusts the internal oil pressure of the spring oil cylinders 82 at the front and rear ends of the vehicle body to adjust the front and rear pitching angles of the vehicle body, so that the submarine mining vehicle can generally keep the automatic horizontal balance of the vehicle body of the submarine mining vehicle when the submarine mining vehicle goes up and down a slope on an uneven traveling plane and a slope of 0-30 degrees; on the other hand, the spring oil cylinder 82 also plays a role in shock absorption to a certain degree, so that the pressure intensity of the crawler belt 6 is increased steeply due to the vibration of the submarine mining vehicle in the advancing process, and the problem of crawler belt subsidence caused by the pressure intensity is avoided.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.

Claims

1. A submarine mining vehicle with a settlement state monitoring device comprises a control cabin (1), a ballast tank assembly (2), a mining vehicle chassis (3), a settlement measuring assembly (4), a crushing acquisition assembly (5) and a crawler (6), it is characterized in that the two sides of the mining vehicle chassis (3) are symmetrically distributed with crawler belts (6), a control cabin (1) and a ballast cabin component (2) are fixedly arranged in the vehicle body above the crushing collecting component (5), the crushing collecting component (5) comprises a crushing collecting head (51), and is connected with the ballast tank assembly (2), the subsidence measuring assembly (4) comprises a subsidence measuring wheel (43), the subsidence measuring wheel (43) is arranged behind the submarine mining vehicle, and the left and right ends are symmetrically distributed with a plurality of optical signal generators (47) and photoelectric sensors (48) for detecting the reception of optical signals;

the light signal generator (47) is an infrared generator, the subsidence measuring assembly (4) further comprises a first swing rod (45), a second swing rod (46), a first angle sensor (41), a second angle sensor (42), a horizontal adjusting assembly (8) and a cylinder (44), the first swing rod (45) and the second swing rod (46) are hinged with the subsidence measuring wheel (43), the first swing rod (45) is hinged with the center of the rear end of the mining vehicle chassis (3), the second swing rod (46) is slidably mounted on a sliding support (49) at the front end of the mining vehicle chassis (3), the sliding support (49) is hinged with the center of the front end of the mining vehicle chassis (3), the cylinder seat (44) is hinged with the rear end of the mining vehicle chassis (3), a cylinder push rod of the cylinder is hinged with the middle part of the first swing rod (45), the first angle sensor (41) is mounted at the position where the first swing rod (45) is hinged with the mining vehicle chassis (3), the second angle sensor (42) is arranged at the hinged part of the sliding support (49) and the mining vehicle chassis (3);

horizontal adjustment subassembly (8) include gyroscope sensor (81) and a plurality of spring cylinder (82), and gyroscope sensor (81) fixed mounting of telling is in mining vehicle chassis (3) front end, and even fixed mounting in seabed mining vehicle automobile body front end and rear end of a plurality of spring cylinder (82) piston rods, its base fixed mounting in mining vehicle chassis (3), just spring cylinder (82) are by the built-in hydraulic pressure station drive of seabed mining vehicle.

2. A subsea mining vehicle with a subsidence monitoring device according to claim 1, where the ballast tank assembly (2) comprises a ballast tank (21), and where the center of the ballast tank assembly (2) coincides with the position of the centre of gravity of the subsea mining vehicle when empty, and where the ballast tank (21) is of a net-like hull tank structure with a net-like gap size smaller than the size of the mineral sand collected by crushing of the crushing pick-up head (51).

3. The subsea mining vehicle with a subsidence state monitoring device according to claim 2, wherein the ballast tank assembly (2) further comprises a rotating blade rod (22), the rotating blade rod (22) is rotatably installed at the bottom center of the ballast tank (21) and is in installation connection with a driving motor outside the ballast tank (21), and the rotating blade rod and the installation part of the ballast tank (21) are sealed by sealing compound.

4. A subsea mining vehicle with a subsidence monitoring device according to claim 3, where the crushing pick-up assembly (5) further comprises a collection pump (52) and a collection hose (53), where the collection hose (53) is connected to the collection pump (52) and connected at its front end to the crushing pick-up head (51) and at its rear end to the inlet of the ballast tank (21).

5. A subsea mining vehicle with a subsidence status monitoring device according to claim 1, where the crushing pick head (51) is a hydro-pick type or hydro-mechanical composite type.

6. The subsea mining vehicle with a subsidence monitoring device according to claim 1, wherein a plurality of long toothed plates (61) are uniformly distributed on the surface of the track (6), a plurality of short toothed plates (62) are uniformly distributed between adjacent long toothed plates (61), the short toothed plates (62) are shorter than the long toothed plates (61), and the track (6) is driven by a built-in hydraulic station of the subsea mining vehicle.

7. The submarine mining vehicle with a subsidence monitoring device according to any one of claims 1-6, further comprising a delivery hose (7), wherein the delivery hose (7) is connected at its front end to the ballast tank (21) and at its rear end to a submarine mining mother ship or a submarine mining aggregate bin.

8. The submarine mining vehicle with a subsidence state monitoring device according to any one of claims 1-6, wherein the subsidence measuring assembly (4) integrates data signals of a first angle sensor (41), a second angle sensor (42) and a photoelectric sensor (48) thereof, obtains an approximate value of subsidence of the front and rear ends of the submarine mining vehicle, transmits the obtained numerical signal to the control cabin (1), the control cabin (1) judges a subsidence threshold value according to the obtained maximum subsidence value and takes corresponding measures, the gyroscope sensor (81) measures a pitching value of the mining vehicle chassis (3), transmits the obtained numerical signal to the control cabin (1), and controls the internal oil pressure of the spring oil cylinder (82) through the control cabin (1).