CN115182730A - Double-ship type micro-energy-consumption hoisting deep-sea mining system - Google Patents
Double-ship type micro-energy-consumption hoisting deep-sea mining system Download PDFInfo
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- CN115182730A CN115182730A CN202210762751.1A CN202210762751A CN115182730A CN 115182730 A CN115182730 A CN 115182730A CN 202210762751 A CN202210762751 A CN 202210762751A CN 115182730 A CN115182730 A CN 115182730A
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- 238000005065 mining Methods 0.000 title claims abstract description 50
- 238000005265 energy consumption Methods 0.000 title claims abstract description 14
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- 229910052500 inorganic mineral Inorganic materials 0.000 claims abstract description 61
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
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- 230000009977 dual effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 7
- 238000011161 development Methods 0.000 description 5
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- 229910017052 cobalt Inorganic materials 0.000 description 2
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
- E21C50/02—Obtaining minerals from underwater, not otherwise provided for dependent on the ship movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
The invention discloses a double-ship type micro-energy-consumption hoisting deep sea mining system, which comprises a mooring rope arranged between two water surface comprehensive ships, wherein each water surface comprehensive ship comprises a dynamic positioning propeller, a heavy suspender, a displacer and an inner side box body; the density of the displacement is greater than that of the pre-mined minerals; two ends of the mooring rope respectively wind around the guide pulley at the bow side of each water surface comprehensive ship and then are connected with a hoisting ore box; the hoisting ore box is provided with a pose sensor, a stable pose propeller and an information processor which are all connected with the power supply module; the pose sensor feeds the acquired original data back to the information processor, the information processor performs fusion calculation to obtain the displacement posture of the hoisted ore box, and the underwater propeller is controlled to further control the movement of the hoisted ore box. The system can realize high-efficiency mining of deep-sea minerals, solves the technical problems of poor stability, low efficiency and the like of deep-sea mining, and provides reference and reference for the actual deep-sea mining engineering.
Description
Technical Field
The invention relates to an equipment system in the field of deep sea mining, in particular to a double-ship type micro-energy-consumption hoisting deep sea mining system.
Background
The deep sea contains a large amount of mineral resources, the submarine minerals are rich in nickel, cobalt, copper, manganese, precious metals such as gold and silver, and the total reserve is dozens of times to thousands of times of the land. Currently, the International Seafloor Administration (ISA) has approved a total of 27 international seafloor mineral exploration applications in countries including china, france, japan, russia, uk, germany, korea, india, etc. Among them, the research and development association of the mineral resources in the ocean of china (abbreviated as "ocean association") signed three exploration contracts for mineral areas, such as pacific C-C multi-metal nodules, southwestern indian ocean hydrothermal sulfides, and western pacific cobalt-rich crusts, with the ISA in 2001, 2011, and 2014, respectively. In 2015, the company of Wu Ming group in China obtained approval of the exploration right of the mineral area of the polymetallic nodule reservation area in the Pacific C-C area. About half of the seafloor mineral production is controlled by the country of the Exclusive Economic Zone (EEZ). Other sea areas are managed by the International seabed management agency (ISA) of the United nations, and countries in the world can apply for exploration and development of oceans through the International seabed management agency. Resources in the international undersea region are human common properties, following the principle of who has the ability to develop first. Developed countries and regions such as the United states, europe, japan and the like have mastered key technologies for developing deep-sea mineral resources, and once the problem of seabed environmental protection is solved, commercial exploitation can be developed by selecting machines. China is still in the starting stage of development of deep-sea mineral resources, and certain gaps still exist between design of deep-sea mineral exploitation systems, development of key technical equipment and the like and developed countries.
The existing mining methods mainly comprise a bucket type, a continuous rope bucket type, a shuttle boat type and a pipeline lifting type. The bucket mining system is composed of a mining ship, a towing cable and a trailer, the bucket is freely lowered to the seabed and is dragged to the seabed to be retracted after being filled with tuberculosis minerals, the mining system can hook the seabed, the danger is high, the operability is poor, and the capacity of the bucket is small due to the strength of a rope, so that the acquisition efficiency is low, and the target of commercial mining is difficult to realize; the continuous rope bucket type mining system consists of a mining ship, a towing rope, a pulling bucket and a tractor, the motion attitude of the mining system on the seabed cannot be controlled, the ropes are easy to tangle, the danger is high, the volume of the rope bucket is small, and the mining efficiency and the resource recovery rate are low due to the opening at the upper end; the shuttle boat type mining system is formed by submerging a shuttle boat similar to a submarine onto the surface of a seabed to adopt combined minerals, and unloading the combined minerals on the water surface after the combined minerals are filled, the mining scheme is high in manufacturing cost, the problems that the performance of the existing materials cannot meet requirements and the power of the system is difficult to solve, the variable cost is high, and the investment recovery period is long; the pipeline lifting system mainly comprises a lifting power pump (hydraulic type and pneumatic type), a conveying hose, a relay bin, a lifting pipe (hard pipe), a heave compensation device, a control valve, a connector, a storage cabin and the like.
The research on the prior technical literature shows that the mining mode at the present stage has the problems of poor economy, poor operability, unsatisfied environmental protection requirements and the like. And along with the continuous increase of mining degree of depth, deep sea mining equipment power is bigger and bigger, and motor power can reach several megawatts level, compares with land electric wire netting, and boats and ships electric wire netting capacity is very little, and high-power motor direct start can cause serious impact to the boats and ships electric wire netting, and high-power mining energy consumption still can greatly shorten mining continuation of journey time, and present prior art adopts the soft starting drive of thyristor formula to start the motor, has the motor can't start, voltage resonance, umbilical cable insulation breakdown etc. a great deal of power supply problem, can't satisfy the engineering technical demand of deep sea mining. Therefore, the invention of a double-ship type micro-energy-consumption hoisting deep-sea mining system is urgently needed to realize technical breakthrough.
Disclosure of Invention
The invention provides a double-ship type micro-energy-consumption hoisting deep sea mining system, aiming at the defects of high operation cost, low mining efficiency, high technical difficulty and the like of the conventional deep sea mining system. The system can realize high-efficiency mining of deep sea minerals, solves the technical problems of poor stability, low efficiency and the like of deep sea mining, and provides reference and reference for the actual deep sea mining engineering.
In order to solve the technical problems, the double-ship type micro-energy-consumption hoisting deep sea mining system comprises two water surface comprehensive ships, wherein a cable is arranged between the two water surface comprehensive ships, and two ends of the cable are respectively connected with a hoisting ore box; each water surface comprehensive ship comprises a displacement cabin, a mineral cabin, a dynamic positioning propeller and a heavy-duty suspender; the inside of the replacement cabin is provided with a replacement, the inside of the mineral cabin is provided with an inner box body, the bow side of each water surface comprehensive ship is provided with a guide pulley, and two ends of the mooring rope are respectively connected with a hoisting ore box after bypassing the guide pulley at the bow side of each water surface comprehensive ship; the hoisting ore box comprises an outer box body and an automatic attitude control device arranged on the outer box body, wherein the automatic attitude control device comprises an attitude sensor, a stable attitude propeller and an information processor which are respectively connected with a power supply module; the pose sensor is connected with the information processor through an I2C bus, and the information processor is connected with the stable attitude propeller through a PWMX6 cable; the stable attitude propeller consists of four underwater propellers matched with the brushless electric controller; the pose sensor is integrated with a triaxial accelerometer, a gyroscope, a magnetometer and a depth sensor, the pose sensor feeds back raw data of the triaxial accelerometer, the gyroscope, the magnetometer and the depth sensor to the information processor, and the information processor performs fusion calculation according to the received raw data to obtain the displacement attitude of the hoisted ore box to control the motion of the underwater propeller and further control the motion of the hoisted ore box; the density of the displacement is greater than that of the pre-mined minerals.
Further, the dual-ship type micro-energy-consumption hoisting deep sea mining system provided by the invention comprises:
the inner box body and the outer box body are quadrangular box bodies which are mutually sleeved; the four underwater propellers are respectively arranged on the four outer side walls of the outer side box body.
The density of the displacement is 1.5-2.5 times of the density of the pre-mined mineral.
The displacement is one or more of cement blocks, cheap stone blocks and encapsulated soil, and the encapsulated soil is soil blocks encapsulated by degradable plastics.
Compared with the prior art, the invention has the beneficial effects that:
because the hoisting deep sea mining system adopts a double-ship form and has little energy consumption, the hoisting deep sea mining system has less matched equipment and low development cost; the main power is provided by the gravity and the buoyancy difference, so that the energy consumption is low and the operation cost is low; the whole system has stable structure, low failure rate and good stability; the seabed surface attachment facilities are reduced, and the marine environment is protected; the ship has strong bearing capacity and high development efficiency; the method can be moved to a new place for mining without the establishment of early-stage corollary equipment.
Drawings
FIG. 1 is a schematic view of the overall structure of a dual-vessel micro-energy-consumption hoisting deep-sea mining system of the present invention;
FIG. 2 is a schematic view of a portion of the construction of the hoist housing of the present invention;
fig. 3 is a block diagram showing the configuration of the automatic attitude control device according to the present invention.
In the figure:
1-water surface integrated ship I2-water surface integrated ship II 3-mooring rope
41. 42-hoisting of ore box 5-replacement cabin 6-mineral cabin
7-dynamic positioning propeller 8-heavy suspender 9-guide pulley
10-displacer 11-inner box 12-outer box
13-information processor 14-pose sensor 15-underwater propeller
16-power supply module
Detailed Description
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
As shown in fig. 1 and fig. 2, the dual-ship type micro-energy-consumption hoisting deep-sea mining system provided by the invention comprises two water surface integrated ships (a water surface integrated ship I1 and a water surface integrated ship I I), wherein a cable 3 is arranged between the two water surface integrated ships I1 and I I, and two ends of the cable 3 are respectively connected with hoisting ore boxes 41 and 42; each surface complex comprises a displacement chamber 5, a mineral chamber 6, a dynamic positioning propeller 7, a heavy boom 8; the displacement cabin 5 is internally provided with a displacement 10, the mineral cabin 6 is internally provided with an inner side box body 11, the bow side of each water surface comprehensive ship is provided with a guide pulley 9, one end of the mooring rope 3 is connected with the hoisting ore box 41 after bypassing the guide pulley 9 at the bow side of the water surface comprehensive ship I1, the other end of the mooring rope 3 is connected with the hoisting ore box 42 after bypassing the guide pulley 9 at the bow side of the water surface comprehensive ship I I, and the mooring rope 3 is made of composite fiber materials and bears the tension generated by the hoisting ore boxes 41 and 42 at two ends.
As shown in fig. 2, the hoisting box 4 comprises an outer box body 12, and the upper end of the outer box body 12 is connected with a cable and plays a role of bearing the hoisting box 4; an attitude automatic control device is arranged on the outer box body 12, and comprises an attitude sensor 14, a stable attitude propeller and an information processor 13 which are respectively connected with a power supply module 16. The inner box body 11 and the outer box body 12 are quadrangular box bodies which are mutually sleeved; four underwater thrusters 15 are respectively arranged on four outer side walls of the outer box 12.
As shown in fig. 3, the posture sensor 14 is connected to the information processor 13 through an I2C bus, and the information processor 13 is connected to the steady-posture propeller through a PWMX6 cable; the stable posture propeller consists of four underwater propellers 15 matched with the brushless electric controller. The pose sensor 14 is integrated with a triaxial accelerometer, a gyroscope, a magnetometer and a depth sensor, the pose sensor 14 feeds back the collected raw data of the triaxial accelerometer, the gyroscope, the magnetometer and the depth sensor to the information processor 13, and the information processor 13 obtains the displacement attitude of the hoisted ore box according to the received raw data through fusion calculation to control the motion of the underwater propeller 15 and further control the motion of the hoisted ore box.
The density of the displacer 4 is larger than that of the pre-mined mineral, and the density of the displacer 10 is 1.5 to 2.5 times that of the pre-mined mineral. The displacer 10 is one or more of a cement block, a cheap stone block and encapsulated soil, and the encapsulated soil is soil block encapsulated by degradable plastics.
In the invention, the hatch cover on the upper side of the replacement cabin 5 receives the information of the heavy suspender 8 and can automatically control the opening and closing, and the replacement cabin 5 stores the replacement 10 at the beginning; the upper side cabin door of the mineral cabin 6 can be automatically controlled to open and close, and an empty inner side box body 11 is arranged in the mineral cabin 6 in an initial state and is used for loading minerals on the seabed; the power positioning propeller 7 offsets the environmental load on the water surface integrated ship (the water surface integrated ship I1 or the water surface integrated ship I I) through power, so that the water surface integrated ship (the water surface integrated ship I1 or the water surface integrated ship I I) is basically static on the water surface; the heavy-duty suspender 8 is distributed between the displacer cabin 5 and the mineral cabin 6, and is of a type with a crane, and the heavy-duty suspender 8 is respectively responsible for hoisting the displacer 10 and the empty inner box body 11 into the outer box body 12 of the hoisting mine box or hoisting the inner box body 11 filled with minerals into the belonging water surface comprehensive ship (a water surface comprehensive ship I1 or a water surface comprehensive ship I I); the guide pulley 9 is arranged at the front end of the bow side of the water surface comprehensive ship (the water surface comprehensive ship I1 or the water surface comprehensive ship I I) and is responsible for supporting the mooring rope 3, reducing friction force in the lifting process, reducing unnecessary energy loss and improving the efficiency of lowering the displacer 10 and lifting minerals; the density of the displacer 10 is far greater than that of minerals, and the displacer is made of green degradable waste and has no pollution to marine environment; the inner box body 11 is used for loading irregular minerals on the seabed and is easy to hoist the minerals to the water surface comprehensive ship (the water surface comprehensive ship I1 or the water surface comprehensive ship I I). The upper ends of the two outer box bodies 12 are respectively connected with two ends of the cable 3, and the cable 3 plays a role in bearing the inner box body 11 and the displacement 10; the power supply module 16 supplies power to four underwater propellers 15 and each device in the position and posture sensor 14 through a voltage stabilizer, the position and posture sensor 14 is used for detecting information such as the inclination angle and the speed of each side surface of the outer side box body and transmitting the information to the information processor 13, and the information processor 13 calculates according to the data transmitted back by the position and posture sensor 14 so as to control the rotating speed of the underwater propellers 15; the underwater propeller 15 changes the rotation speed according to the control signal of the information processor 13 so that the outer box 12 is always dynamically in a horizontal state.
Example (b):
as shown in fig. 1 and 2, two surface integrated vessels I1 and II2 are stationary on the water surface through the dynamic positioning propellers 7; the displacer cabin 5 is positioned near the bow, and the green pollution-free degradable displacer 10 with a hoisting hole position is stored before the mineral lifting operation is started; the mineral cabin 6 is positioned near the middle of the ship, an empty inner box body 11 is arranged in the mineral cabin before mineral lifting, and the inner box body 11 filled with minerals is arranged in the mineral cabin after mineral lifting is finished; the dynamic positioning propeller 7 starts dynamic positioning when the water surface comprehensive ship I1 and the water surface comprehensive ship II2 reach the water surface of a specified mineral exploitation position, so that the water surface comprehensive ship I1 and the water surface comprehensive ship II2 keep an approximate static state, and the stability of a mineral lifting process is improved; the heavy suspender 8 is responsible for loading the replacement 10 into the hoisting mine box 4 or hoisting an inner box body 11 filled with minerals into the mineral compartments 6 of the surface complex ship I1 and the surface complex ship II 2; the guide pulley 9 bears the force of the hoisting mine box 4 acting on the cable 2 and transmits the force to the water surface comprehensive ship I1 and the water surface comprehensive ship II 2; the density of the displacer 10 is much greater than that of the mineral, so that the outer box 12 containing the displacer 10 can sink by using the gravity difference, and the length of the cable 3 is a fixed value, so that the hoisting box 41 or 42 containing the inner box 11 for storing the mineral can rise; the two ends of the cable 3 are connected with the hoisting mine boxes 41 and 42, the cable is hung on the water surface comprehensive ship I1 and the water surface comprehensive ship II2 through the guide pulleys 9, the cable 3 between the guide pulleys 9 is basically kept in a horizontal state under the action of the dynamic positioning screw propeller 7, and part of the cable on the outer lower side of the guide pulleys 9 is basically kept in a vertical state. The inner box body 11 is used as a mineral carrier and is nested in the outer box body 12; the outer box 10 is used as a carrier of the inner box 11 and has a net structure to reduce the mass and the load of the cable 3; as shown in fig. 3, the power supply module 16 is responsible for supplying power to the pose sensor 14 and the underwater propeller 15, and the information processor 13 processes information from the pose sensor 14 and controls the rotation speed of the underwater propeller 15; the pose sensor 14 is used for detecting the state of the hoisting ore box; four underwater propellers 15 are distributed on four sides of the outer box body 12 and are controlled by the information processor 13 to provide micro power to ensure the stability of the hoisting box.
As shown in figure 1, the process for hoisting the deep sea ore by using the system of the invention comprises the following steps:
initial state: after the water surface comprehensive ship I1 and the water surface comprehensive ship II2 reach an operation point of an offshore mining area, the dynamic positioning propellers 7 start to work, the water surface comprehensive ship I1 and the water surface comprehensive ship II2 are made to be static on the water surface, the mooring ropes 3 with the water depth plus the guide pulley interval plus twice the length of a freeboard are selected and hung on the guide pulleys 9, and the hoisting mine boxes 41 and 42 are hung at two ends of the mooring ropes 3.
Sinking for the first time: the inner box body 11 is loaded into the hoisting ore box 41 of the water surface integrated ship I1 through the heavy suspender 8 and is put into water to freely sink.
Seabed replacement: when the hoisting box 41 of the surface complex ship I1 is lowered to the seabed, minerals are loaded into the inner box 11 after the completion of the operation of the mining vehicle and the mineral-collecting vehicle located on the seabed.
And (3) first lifting: the displacement 10 is lifted out of the displacement compartment 5 by means of the heavy boom 8 in the vessel of the surface complex vessel II2 and loaded into the outer casing 12 of the hoisting magazines 42, whereupon the hoisting magazines 42 of the bow of the one surface complex vessel II2 are loaded with the outer casing 12 and begin to sink, while the hoisting magazines 41 of the surface complex vessel I1 are driven upwards. In the process that the outer box body 12 loaded on the hoisting ore box 42 sinks, all devices (a triaxial accelerometer, a gyroscope, a magnetometer and a depth sensor) integrated with the pose sensor 14 arranged on the outer box body 12 automatically acquire pose information of the outer box body 12 and transmit the pose information to the information processor 13, the information processor 13 transmits a calculated instruction to the underwater propeller 15 included by the stable-pose propeller, and the underwater propeller 15 can provide micro power to ensure the stability of sinking, as shown in fig. 2 and 3.
Seabed replacement: when the hoisting ore box 41 of the water surface integrated ship I1 floats up to the vicinity of the water surface, that is, when the hoisting ore box 42 of the water surface integrated ship II2 sinks to the seabed, the displaced material 10 in the hoisting ore box 42 is taken out after the completion of the operation of the mining vehicle and the mineral-collecting vehicle located at the seabed, and minerals are loaded into the inner box body 11 in the hoisting ore box 42.
Water surface replacement: after the completion of the subsea replacement, the inner box 11 containing the minerals in the lifting boxes 41 is lifted out by the heavy boom 8 of the surface complex I1 and into the mineral compartment 6 of the one surface complex I1, and then the replacement 10 is lifted out of the replacement compartment 5 and placed in the lifting boxes 41 to sink.
The steps of the seabed replacement and the water surface replacement are repeated between the water surface integrated ship I1 and the water surface integrated ship II2 to form a closed loop for mineral lifting, and the outer box 12 needs to be recovered to the water surface integrated ship after the mineral lifting is finished.
And (3) final recovery process of the box body: assuming that the final state is that the hoisting box 41 of the water surface comprehensive ship I1 is near the water surface, the hoisting box 42 of the water surface comprehensive ship II2 is near the seabed, at this time, the inner box 11 of the hoisting box 41 containing minerals near the water surface is hoisted into the mineral cabin 6 of the water surface comprehensive ship I1, the outer box 12 is hoisted into the water surface comprehensive ship I1, the replacement 10 in the hoisting box 42 of the water surface comprehensive ship II2 is taken out through an underwater mining machine and a mining machine, the replacement 10 is hoisted out from the replacement cabin 5 of the water surface comprehensive ship I1 and is connected onto the cable 3 to freely sink, the hoisting box 42 of the water surface comprehensive ship II2 can be lifted to the vicinity of the water surface, the outer box 12 of the hoisting box 42 is hoisted onto the water surface comprehensive ship II2, the replacement 10 and the cable 3 on one side of the water surface comprehensive ship I1 are released from constraint through the underwater mining machine and the mining machine, and finally the cable 3 is retracted.
While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are illustrative only and not restrictive, and various modifications which do not depart from the spirit of the present invention and which are intended to be covered by the claims of the present invention may be made by those skilled in the art.
Claims (4)
1. A double-ship type micro-energy-consumption hoisting deep sea mining system comprises two water surface comprehensive ships, and is characterized in that a mooring rope (3) is arranged between the two water surface comprehensive ships, and two ends of the mooring rope (3) are respectively connected with a hoisting ore box; each water surface integrated ship comprises a displacement cabin (5), a mineral cabin (6), a dynamic positioning propeller (7) and a heavy-duty suspender (8); a displacement object (10) is arranged in the displacement object cabin (5), an inner side box body (11) is arranged in the mineral cabin (6), the bow side of each water surface comprehensive ship is provided with a guide pulley (9), and two ends of the mooring rope (3) are respectively connected with a hoisting ore box after bypassing the guide pulley (9) at the bow side of each water surface comprehensive ship;
the hoisting ore box (4) comprises an outer box body (12) and an automatic attitude control device arranged on the outer box body (12), wherein the automatic attitude control device comprises an attitude sensor (14), a stable attitude propeller and an information processor (13) which are respectively connected with a power supply module (16);
the pose sensor (14) is connected with the information processor (13) through an I2C bus, and the information processor (13) is connected with the stable attitude propeller through a PWMX6 cable; the stable attitude propeller consists of four underwater propellers (15) matched with the brushless electric controller;
the position and posture sensor (14) is integrated with a triaxial accelerometer, a gyroscope, a magnetometer and a depth sensor, the position and posture sensor (14) feeds back the collected raw data of the triaxial accelerometer, the gyroscope, the magnetometer and the depth sensor to the information processor (13), and the information processor (13) performs fusion calculation according to the received raw data to obtain the displacement posture of the hoisted ore box so as to control the motion of the underwater propeller (15) and further control the motion of the hoisted ore box;
the density of the displacement (4) is greater than that of the pre-mined minerals.
2. Micro-energy-consumptive hoisting deep-sea mining system according to claim 1, in the form of twin-boats, characterized in that the inner box (11) and the outer box (12) are quadrangular boxes nested one inside the other; the four underwater propellers (15) are respectively arranged on the four outer side walls of the outer box body (12).
3. Micro-energy-consumptive hoisting deep-sea mining system in the form of a twin-vessel according to claim 1, characterized in that the density of the displacer (10) is 1.5-2.5 times the density of the pre-mined mineral.
4. The dual vessel form micro energy expendable deep sea mining system of claim 3, wherein the displacer (10) is one or more of a cement block, a cheap stone block and an encapsulated soil, the encapsulated soil being a soil block encapsulated with degradable plastics.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117514178A (en) * | 2023-12-22 | 2024-02-06 | 江苏科技大学 | Deep sea buoyancy mining system |
| CN117514178B (en) * | 2023-12-22 | 2024-06-07 | 江苏科技大学 | Deep sea buoyancy mining system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117514178A (en) * | 2023-12-22 | 2024-02-06 | 江苏科技大学 | Deep sea buoyancy mining system |
| CN117514178B (en) * | 2023-12-22 | 2024-06-07 | 江苏科技大学 | Deep sea buoyancy mining system |
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