CN111577285A - Stabilizing device for space form of marine mineral conveying hose - Google Patents
Stabilizing device for space form of marine mineral conveying hose Download PDFInfo
- Publication number
- CN111577285A CN111577285A CN202010344808.7A CN202010344808A CN111577285A CN 111577285 A CN111577285 A CN 111577285A CN 202010344808 A CN202010344808 A CN 202010344808A CN 111577285 A CN111577285 A CN 111577285A
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- 229910052500 inorganic mineral Inorganic materials 0.000 title claims abstract description 150
- 239000011707 mineral Substances 0.000 title claims abstract description 150
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 37
- 238000005065 mining Methods 0.000 claims abstract description 34
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 230000003019 stabilising effect Effects 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 2
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a stabilizing device for the space form of a marine mineral conveying hose, which relates to the technical field of marine mining equipment, and comprises: the device comprises a signal monitor, a power device and a controller; the signal monitor is used for monitoring a first signal and a second signal, determining the position of a mineral collection point according to the first signal and determining the position of a submarine mining machine according to the second signal; the power device is used for generating propulsion power to adjust the position; the controller is used for acquiring the position information of the mineral collecting point and the submarine mining machine from the signal monitor, and controlling the power device to adjust the position of the stabilizing device according to the relative positions of the power device and the mineral collecting point and the submarine mining machine, so that the mineral conveying hose keeps a preset space shape. The stabilizing device can improve the stability of the space form of the mineral conveying hose in the marine mineral conveying process.
Description
Technical Field
The application relates to ocean mining equipment technical field especially relates to a stabilising arrangement of ocean mineral transportation hose space form.
Background
Because the ocean environment of the deep sea mining area is complex and changeable, the operation of the ocean mining system is influenced by severe conditions such as sea waves, ocean currents, corrosion and the like, and therefore, the safety and the stability of the deep sea mining system are the core of engineering design and application. In the ocean mining system, the space structure stability of mineral conveying hose is crucial, however, in the operation of complicated deep sea, there are external forces of a plurality of directions such as horizontal, vertical, make the hose configuration take place the deformation of three-dimensional space, destroy original stability, influence and carry the operation. In the prior art, the hose shape is maintained by installing a buoyancy device on the hose, for example, chinese patent CN201310640663.5 discloses a marine mineral resource mining device and a mining method, wherein the patent refers to a hose for conveying minerals, and a first floating body made of a buoyancy material is installed on the hose for maintaining the shape of the hose. The existing buoyancy device can only provide single buoyancy, and the stability of the hose shape is difficult to ensure.
Disclosure of Invention
The technical problem that this application will be solved lies in, to prior art's the aforesaid not enough, provides a stabilising arrangement of marine mineral conveying hose spatial morphology, and this stabilising arrangement can improve the stability of marine mineral conveying in-process mineral conveying hose spatial morphology.
The marine mineral conveying hose is used for conveying minerals collected by the submarine mining machine to a mineral collecting point, a first signal anchor point used for generating a first signal is arranged on the mineral collecting point, and a second signal anchor point used for generating a second signal is arranged on the submarine mining machine; the stabilising arrangement is attached to a mineral conveying hose at a predetermined location and comprises:
a signal monitor for monitoring the first signal and the second signal, and for determining the position of the mineral collection point from the first signal and the position of the subsea miner from the second signal;
a power device for generating propulsion power for position adjustment;
and the controller is used for acquiring the position information of the mineral collecting point and the submarine mining machine from the signal monitor, and controlling the power device to adjust the position of the stabilizing device according to the relative positions of the power device and the mineral collecting point and the submarine mining machine, so that the mineral conveying hose maintains a preset spatial form.
Further, the power plant specifically includes: the power device comprises a first power propulsion device arranged in a first direction, a second power propulsion device arranged in a second direction and a third power propulsion device arranged in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the first direction is set to be a vertical direction.
Further, the first power propulsion device, the second power propulsion device and the third power propulsion device are propeller devices.
Further, the stabilizing device further comprises: the buoyancy chamber can adjust the buoyancy.
Further, the stabilizing device further comprises: a connection assembly, comprising: a hose cover fixedly sleeved on the mineral conveying hose and a rope connected with the hose cover.
Further, the spatial configuration of the mineral conveying hose comprises: single arch, multiple arch.
Further, the controller is also configured to determine a distance between the mineral collection point and the subsea miner based on the location of the mineral collection point and the location of the subsea miner; when the distance between the mineral collection point and the submarine mining machine is smaller than a threshold value, the controller controls the power device to adjust the position of the stabilizing device so that the mineral conveying hose is kept in a single arch shape; the controller controls the power plant to adjust the position of the stabilising device to maintain the mineral conveying hose in a multi-arch shape when the distance between the mineral collection point and the subsea miner is greater than a threshold value.
Further, the signal monitor is also used for receiving a first instruction signal sent by the mineral collection point; the controller is responsive to the signal monitor receiving a first command signal from the mineral collection point to control the power means to adjust the position of the stabilising means to cause the mineral conveying hose to switch from and remain in the first spatial configuration to the second spatial configuration.
Further, the signal monitor is also used for receiving a second instruction signal sent by the mineral collecting point when the mineral conveying hose is detected to be blocked; and the controller responds to the signal monitor to receive the second instruction signal, and controls the power device to drive the stabilizing device to move according to a preset track so as to dynamically adjust the mineral conveying hose.
Further, the mineral collection point is a mining ship or an underwater collection bin.
In the scheme, the mineral collecting point is connected with the submarine mining machine through the mineral conveying hose, the stabilizing device is connected to the preset position on the mineral conveying hose, and the stabilizing device can adjust the position of the stabilizing device according to the position of the mining ship and the position of the submarine mining machine, so that the mineral conveying hose keeps the preset spatial form, and the stability of the spatial form of the mineral conveying hose in the marine mineral conveying process is improved.
Drawings
Fig. 1 is a schematic view of an application scenario of a device for stabilizing the spatial configuration of a marine mineral conveying hose according to an embodiment of the present application.
Fig. 2 is a schematic view of another application scenario of the device for stabilizing the spatial configuration of the marine mineral conveying hose according to the embodiment of the present application.
Fig. 3 is a schematic block diagram of a stabilization device in an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a stabilizing device in an embodiment of the present application.
Fig. 5 is a schematic view of the internal structure of the stabilizing device in the embodiment of the present application.
Fig. 6 is another schematic structural diagram of the stabilizing device in the embodiment of the present application.
Detailed Description
The following are specific embodiments of the present application and are further described with reference to the drawings, but the present application is not limited to these embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
In addition, the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1 to 6, the marine mineral conveying hose p is used for conveying minerals collected by a subsea miner to a mineral collection point, the mineral collection point is provided with a first signal anchor point for generating a first signal, and the subsea miner is provided with a second signal anchor point for generating a second signal; the stabilising arrangement is attached to a mineral conveying hose at a predetermined location and comprises: the signal monitor 10, the power device 20 and the controller 30; the signal monitor 10 is configured to monitor a first signal and a second signal, determine a position of a mineral collection point according to the first signal, and determine a position of a subsea mining machine according to the second signal; the power device 20 is used for generating propulsion power to adjust the position; the controller 30 is adapted to obtain information about the location of the mineral collection point and the subsea miner from the signal monitor 10 and to control the power unit 20 to adjust the position of the stabilising unit in response to its position relative to the mineral collection point and the subsea miner such that the mineral conveying hose maintains a predetermined spatial configuration.
It is noted that a subsea miner delivers mined material to a mineral collection point via a mineral delivery hose. Because the marine environment is complicated and changeable, the marine mining system can be influenced by sea waves, ocean currents and the like during operation, certain external force impact is generated on the mineral conveying hose, the hose configuration is deformed in a three-dimensional space, the original stability is damaged, and mineral conveying operation is influenced. However, in the prior art, the buoyancy device is adopted to maintain the shape of the hose, the buoyancy device can only provide single buoyancy, and the complex marine environments have stress in all directions, so that the buoyancy device is difficult to ensure that the mineral conveying hose maintains stable shape in the complex environments. In the embodiment of the application, the stabilizing device monitors the first signal and the second signal, determines the position of the mineral collecting point according to the first signal, and determines the position of the submarine mining machine according to the second signal, so that the position of the stabilizing device can be adjusted according to the position of the mineral collecting point and the position of the submarine mining machine, the mineral conveying hose is kept in a preset spatial form, and a stable mineral conveying channel is provided.
Furthermore, the position of the subsea miner and mineral collection point is also dynamically varied during mining. In the embodiment of the application, the stabilizing device can dynamically adjust the position of the stabilizing device according to the position of the mineral collecting point and the position of the submarine mining machine, so that the damage of the motion of the mineral collecting point and the submarine mining machine to the space form of the mineral conveying hose is avoided.
In particular, each of the stabilising devices is connected to a predetermined location on the mineral conveying hose, and different stabilising devices correspond to different predetermined locations, and each location on the mineral conveying hose to which a stabilising device is connected can be understood as a control point. The stabilizing device can adjust the spatial position of the control points of the mineral conveying hose, thereby controlling the spatial shape of the mineral conveying hose.
In some embodiments, the spatial configuration of the mineral conveying hose comprises: single arch, multiple arch. It is to be noted that the spatial configuration of the mineral conveying hose does not refer to an exact shape, but to a pattern of shapes, e.g. single arch, multiple arches. It should be noted that the multi-arch shape has at least two arches. It should be noted that, research has shown that the marine mineral conveying hose p has good spatial stability in the double-arch form, and has a certain compensation effect on the movement of the submarine mining machine and the overcoming of disadvantages caused by water resistance and terrain.
In addition, referring to fig. 3, the stabilizing device also includes a battery 60 for powering other components.
Referring to fig. 4 to 6, the power unit 20 specifically includes: the power device comprises a first power propulsion device 21 arranged in a first direction, a second power propulsion device 22 arranged in a second direction, and a third power propulsion device 23 arranged in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the first direction is set as a vertical direction. The first direction, the second direction, and the third direction can be understood as x-axis, y-axis, and z-axis directions of the spatial coordinate system, each direction including positive and negative directions. Thus, first power propulsion device 21, second power propulsion device 22, and third power propulsion device 23 may move the stabilization device within the space. The stabilising device is attached to the mineral conveying hose at a predetermined position and the shape of the mineral conveying hose is changed as the stabilising device is moved.
In some embodiments, the first power propulsion device 21, the second power propulsion device 22, the third power propulsion device 23 are embodied as propeller devices. It should be noted that the underwater propulsion device can have various structural forms, which are conventional technical means and will not be described herein in detail.
It should be noted that the stabilization device may have various forms in the profile configuration, and the first power propulsion device 21 may include a plurality of propulsion devices arranged in the first direction, and the propulsion devices arranged in the first direction may propel the stabilization device to move in the first direction. The second power propulsion means 62 and the third power propulsion means 63 are similar. Fig. 4 and 6 show, in addition, two forms of construction of the stabilization device 60, which differ in the position and number of their propulsion devices.
In some embodiments, the stabilizing device further comprises: the buoyancy compartment 40 can adjust the buoyancy. The buoyancy cabin can provide certain buoyancy, so that the stabilizing device is kept relatively stable under the condition of being connected with the mineral conveying hose, the intervention time of the power propulsion device can be reduced, and the energy efficiency is improved. In particular, when the marine environment is relatively stable and the distance between the mineral collection point and the subsea miner is relatively stable, the power propulsion means may be turned off and the mineral conveying hose may be kept stable only by the buoyancy compartment.
In some embodiments, the stabilizing device further comprises: a connection assembly 50, comprising: a hose cover 51 which can be fixedly sleeved on the mineral conveying hose, and a rope 52 connected with the hose cover 51. The stabilising device can be separated from the mineral conveying hose by removing the coupling assembly 50 so that different gauge coupling assemblies 50 can connect the stabilising device to different mineral conveying hoses.
In some embodiments, the controller 30 is further configured to determine a distance between the mineral collection point and the subsea miner based on the location of the mineral collection point and the location of the subsea miner; when the distance between the mineral collection point and the subsea miner is less than a threshold value, the controller 30 controls the power plant 20 to adjust the position of the stabilising device so that the mineral conveying hose remains in a single arch; when the distance between the mineral collection point and the subsea miner is greater than a threshold value, the controller 30 controls the power plant 20 to adjust the position of the stabilizer to maintain the mineral conveying hose in a multi-arch shape. The mineral conveying hose can provide cushioning and compensation when the subsea miner or mineral collection point moves, and the spatial configuration is more stable. Generally, mineral conveying hoses can provide better cushioning and compensation under multiple arches. When the distance between the mineral collection point and the submarine mining machine is too small, the local curvature of the mineral conveying hose is too large due to the multiple arches, the mineral conveying hose is not beneficial to conveying minerals in the hose, and the blockage phenomenon is easy to generate. In the above solution, the stabilising device is able to adjust the spatial configuration of the mineral conveying hose according to the distance between the mineral collection point and the subsea miner, such that the mineral conveying hose remains in good working condition.
In some embodiments, the signal monitor 10 is further configured to receive a first instruction signal transmitted from the mineral collection point; the controller 30 is responsive to the signal monitor 10 receiving a first command signal from the mineral collection point to control the power means 20 to adjust the position of the stabilising means to cause the mineral conveying hose to switch from and remain in the first spatial configuration to the second spatial configuration. The configuration of the mineral conveying hose can also be adjusted manually, which is a complement to the automatic adjustment, and in certain cases the spatial configuration of the mineral conveying hose can be adjusted by sending a first command signal.
In some embodiments, the signal monitor 10 is further configured to receive a second instruction signal from the mineral collection point when a blockage in the mineral conveying hose is detected; the controller 30 is responsive to the signal monitor 10 receiving the second instruction signal to control the power means 20 to drive the stabilising means to move according to a predetermined trajectory to dynamically adjust the mineral conveying hose. Specifically, when the stabilizing device receives a second instruction signal, the stabilizing device moves according to a preset track to drive the mineral conveying hose to move so as to adjust the curvature of the space bending and solve the problem of blockage in the mineral conveying hose. Specifically, the movement of the stabilizer along the preset trajectory may be an up-and-down movement.
In some embodiments, the mineral collection point is a mining ship or an underwater collection bin. Referring to fig. 2, when the mineral collection point is an underwater collection bin B, a subsea mining machine a delivers minerals to the underwater collection bin B through a mineral delivery hose p, and the underwater collection bin B delivers minerals to an above-water platform C through hard piping.
The command signal, including the first command signal and the second command signal, may be a wireless signal or a wired signal. The wireless signal may be a sound wave signal.
In this application embodiment, first signal and second signal can be the sound wave signal, and stabilising arrangement can be used to monitor the sound wave signal, is similar to the principle of sonar to can fix a position the signal source. These are conventional in the art and will not be described in further detail herein.
In the description of the present application, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the present application as defined by the appended claims.
Claims (10)
1. A device for stabilizing the space form of an ocean mineral conveying hose is characterized in that the ocean mineral conveying hose is used for conveying minerals collected by a submarine mining machine to a mineral collecting point, a first signal anchor point used for generating a first signal is arranged on the mineral collecting point, and a second signal anchor point used for generating a second signal is arranged on the submarine mining machine; the stabilising arrangement is attached to a mineral conveying hose at a predetermined location and comprises:
a signal monitor (10) for monitoring the first and second signals and determining the position of the mineral collection point from the first signal and the position of the subsea miner from the second signal;
a power device (20) for generating propulsion power for position adjustment;
and a controller (30) for acquiring the position information of the mineral collection point and the subsea miner from the signal monitor (10) and controlling the power unit (20) to adjust the position of the stabilising device in accordance with its relative position to the mineral collection point and the subsea miner so that the mineral conveying hose maintains a predetermined spatial configuration.
2. The device for stabilizing the spatial configuration of a marine mineral conveying hose according to claim 1, wherein the power unit (20) comprises: the power device comprises a first power propulsion device (21) arranged in a first direction, a second power propulsion device (22) arranged in a second direction and a third power propulsion device (23) arranged in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the first direction is set to be a vertical direction.
3. The marine mineral conveying hose spatial form stabilising arrangement of claim 2, characterized in that the first power propulsion arrangement (21), the second power propulsion arrangement (22), the third power propulsion arrangement (23) are in particular propeller arrangements.
4. The marine mineral conveying hose spatial form stabilizing arrangement of claim 1, further comprising: the buoyancy chamber (40) can adjust the buoyancy.
5. The marine mineral conveying hose spatial form stabilizing arrangement of claim 1, further comprising: a connection assembly (50) comprising: a hose cover (51) which can be fixedly sleeved on the mineral conveying hose, and a rope (52) which is connected with the hose cover (51).
6. The device for stabilizing the spatial configuration of a marine mineral transfer hose according to claim 1, wherein the spatial configuration of the mineral transfer hose comprises: single arch, multiple arch.
7. A marine mineral transfer hose dimensional configuration stabilising arrangement according to claim 6, wherein the controller (30) is further adapted to determine the distance between the mineral gathering point and the subsea miner from the location of the mineral gathering point and the location of the subsea miner; when the distance between the mineral collection point and the subsea miner is less than a threshold value, the controller (30) controls the power plant (20) to adjust the position of the stabilising device so that the mineral conveying hose remains in a single arch; when the distance between the mineral collection point and the subsea miner is greater than a threshold value, the controller (30) controls the power plant (20) to adjust the position of the stabilizing device to maintain the mineral conveying hose in a multi-arch shape.
8. The marine mineral conveying hose spatial configuration stabilizing device according to claim 1, characterized in that the signal monitor (10) is further configured to receive a first command signal sent from a mineral collection point; the controller (30) is responsive to the signal monitor (10) receiving a first command signal from the mineral collection point to control the power means (20) to adjust the position of the stabilising means to cause the mineral conveying hose to switch from and remain in the first spatial configuration to the second spatial configuration.
9. A device for stabilising the dimensional configuration of a marine mineral transfer hose according to claim 1, wherein the signal monitor (10) is further adapted to receive a second instruction signal from the mineral collection point upon detection of a blockage in the mineral transfer hose; and the controller (30) responds to the signal monitor (10) to receive the second instruction signal, and controls the power device (20) to drive the stabilizing device to move according to a preset track so as to dynamically adjust the mineral conveying hose.
10. The marine mineral conveying hose dimensional stability apparatus of claim 1, wherein the mineral collection point is a mining ship or an underwater collection bunker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010344808.7A CN111577285B (en) | 2020-04-27 | 2020-04-27 | Stabilizing device for space form of marine mineral conveying hose |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010344808.7A CN111577285B (en) | 2020-04-27 | 2020-04-27 | Stabilizing device for space form of marine mineral conveying hose |
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| Publication Number | Publication Date |
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| CN111577285A true CN111577285A (en) | 2020-08-25 |
| CN111577285B CN111577285B (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010344808.7A Expired - Fee Related CN111577285B (en) | 2020-04-27 | 2020-04-27 | Stabilizing device for space form of marine mineral conveying hose |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112647950A (en) * | 2020-11-27 | 2021-04-13 | 吉县古贤泵业有限公司 | Deep sea mining method and deep sea mining device |
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| CN209814238U (en) * | 2019-03-11 | 2019-12-20 | 西安多方智能科技有限公司 | Underwater robot |
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2020
- 2020-04-27 CN CN202010344808.7A patent/CN111577285B/en not_active Expired - Fee Related
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| CN103628881A (en) * | 2013-12-04 | 2014-03-12 | 湖南大学 | Oceanic mineral resource exploitation device and exploitation method |
| CN104653184A (en) * | 2015-01-23 | 2015-05-27 | 三亚深海科学与工程研究所 | Assembled mining system for deep sea mineral resources |
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| CN112647950A (en) * | 2020-11-27 | 2021-04-13 | 吉县古贤泵业有限公司 | Deep sea mining method and deep sea mining device |
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| CN111577285B (en) | 2021-04-16 |
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