CN117888906A - Submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collection device and method - Google Patents
Submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collection device and method Download PDFInfo
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Abstract
The utility model provides a submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collection device and a method, which are characterized in that: the device comprises an environment sensing module, a double-degree-of-freedom motion control module, a local space closing module, a water jet nozzle module, a mineral grain suction inlet of the mineral collecting device, a mineral collecting conveying hose and a bottom-off height control mechanism of the mineral collecting device; the double-degree-of-freedom motion control module realizes the vertical and horizontal double-degree-of-freedom movement of the ore collecting device, controls the distance between the ore collecting device and the sea bottom surface, and adapts to different submarine topography; the local space sealing module plays a role in local dynamic sealing in the mining process, so that the diffusion of submarine sediments is prevented, and the environmental disturbance is reduced; the hydraulic jet nozzle module vertically starts the submarine minerals through high-pressure and high-speed water flow; the ore collecting and conveying hose is connected with the ore grain suction inlet of the ore collecting device and the storage device, and is a flexible hose, and the ore grain suction inlet of the ore collecting device is provided with a hydraulic suction device.
Description
Technical Field
The invention relates to submarine mineral collection equipment, in particular to a submarine mineral grain double-degree-of-freedom local dynamic closed hydraulic ore collection device and method.
Background
The vast deep sea is rich in mineral resources, has a large variety, large reserves and high grade, has huge development and utilization prospects, and is considered to be the most important successor resource of 21 st century land mineral. The deep sea mineral resources are rich in copper, cobalt, nickel, rare earth and other metals, and if the deep sea mineral resources are developed and utilized, the supply of resources required by the economic development of China can be effectively ensured. The sea-bottom minerals with great development potential have been found to be mainly composed of three kinds of multi-metal nodules, multi-metal sulfides and cobalt-rich crusts, and are distributed on the sea bottom of hundreds to thousands of meters. Deep sea mining environmental impact studies show that deep sea mining will inevitably have a negative impact on the deep sea biodiversity and ecosystem in a local area, including not only direct death of organisms due to deep sea mining activities, but also larger range of damage that may be caused by the collateral effects of sediment plume diffusion, etc.
The deficiencies and reasons of the prior art are:
1. most of the prior art does not have a local flow field sealing function, a large amount of slurry and dissolved chemical substances are released in the mining process, sediment plumes are formed, potential threat is formed to the ecological environment of the deep middle-layer water area of the ocean, and resource development is not facilitated for long-term environmental protection.
2. Most of the prior art is single-point type collection, does not have a scanning type collection function, needs a mining vehicle to move for many times for collecting large-range ores, and is low in mining operation efficiency.
3. The existing patent technology in the aspect of hydraulic ore collection mostly adopts constant jet flow, which causes slow starting of mineral particles, high energy consumption and large environmental disturbance.
4. The prior art does not have the submarine mining area environment sensing and identifying function, lacks accurate identifying capability for mining area density, mining grain scale and mining grain variety, and cannot realize accurate mineral collection.
5. The prior art does not have the function of controlling the off-bottom height of the ore collecting device, and the collection efficiency of the ore collecting device is easily affected by the micro-topography of the seabed, so that the ore collecting operation efficiency is low and the economy is poor.
Disclosure of Invention
In order to solve the problems existing in the prior art, a submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collecting device is provided, and the device comprises an environment sensing module, a double-degree-of-freedom motion control module, a local space closing module, a hydraulic jet nozzle module, an ore grain suction inlet of the ore collecting device, an ore collecting conveying hose and an ore collecting device bottom-disengaging height control mechanism; the environment sensing module is positioned at the front end of the ore collecting device through an overhanging bracket; the double-freedom-degree motion control module consists of a lifting system and a transverse moving system, wherein the lifting system consists of a lifting oil cylinder and a lifting guide and is positioned at the rear upper part of the ore collecting device, and the transverse moving system consists of a moving guide bar, a moving mechanism, a moving screw rod, a moving mechanism nut and a driving motor (a hydraulic motor or an underwater motor) and is positioned at the rear upper part of the ore collecting device; the local space sealing module forms a local sealing space around the ore grain suction inlet of the ore collecting device by a flexible brush; the hydraulic jet nozzle module is positioned at the inner side of the local space sealing module; the ore grain suction inlet of the ore collecting device is positioned in the middle of the hydraulic jet nozzle module; the ore collection conveying hose is connected with an ore grain suction inlet of the ore collection device and the storage bin; the double-degree-of-freedom motion control module realizes the vertical and horizontal double-degree-of-freedom movement of the ore collecting device through the lifting oil cylinder and the driving motor, controls the distance between the ore collecting device and the sea bottom surface, and adapts to different sea bottom terrains; the local space sealing module is a flexible brush surrounding the ore grain suction inlet of the ore collecting device, plays a role in local dynamic sealing in the mining process, prevents the diffusion of submarine sediments, and reduces environmental disturbance; the hydraulic jet nozzle module vertically starts the submarine minerals through high-pressure and high-speed water flow, and 8 symmetrical distribution is arranged around the ore particle suction inlet of the ore collecting device; the ore collection conveying hose is connected with the ore grain suction inlet of the ore collection device and the storage device, and is a flexible hose, and the ore grain suction inlet of the ore collection device is provided with a hydraulic suction device.
The environment sensing module adopts a visual sensing system based on a convolutional neural network, and acquires image information through a camera to realize accurate sensing of submarine mining area information; aiming at the problems of low underwater visibility and imaging blurring, the image restoration is carried out through the pre-training generation of the countermeasure network model, so that the quality of the image is improved; and carrying out target detection and identification on the restored image, obtaining mineral particle types, particle diameters and submarine topography information of a mining area, and adjusting the ground clearance of the ore collecting device according to the characteristic information obtained by sensing to realize accurate local dynamic closed space ore collection.
The system receives distance signals measured by the sensors, and automatically calculates vertical height information of the ore collecting device relative to the submarine topography; the system adopts a classical PID control strategy, generates a control signal after receiving the relevant information of the ground clearance height, and adjusts the current ground clearance height of the ore collecting device.
The device utilizes the effect that flexible brush formed dynamic enclosure space, can restrain deposit plume diffusion effectively, has reduced the disturbance to seabed ecological environment, can play the interception effect simultaneously, stops the outward diffusion of partial ore grain, effectively restrains the suspension diffusion after fine particle (mineral piece or deposit fine particle soil) is disturbed, improves the mineral acquisition rate. In addition, the flexible hairbrush is used as a boundary condition of a flow field, and the interaction of high-pressure jet flow and suction flow forms a coupling flow field, so that the fluid force of mineral particles is improved, starting and collecting of the mineral particles are facilitated, lifting of the mineral particles is promoted, and the collection rate of the mineral particles is improved. The flexible brush can change the shape according to different terrains, can adapt to complex submarine conditions, has the terrain self-adaptability, and can reduce the ore collection flow under the condition of reaching the same ore collection rate, thereby further reducing the disturbance of the ore collection process to the seabed and obviously reducing the energy consumption. The dynamic blocking mechanism can effectively improve the collection efficiency of local small-range ore particles and greatly reduce environmental interference.
The coupling flow field is formed by jet flow, suction flow and ocean current on the sea floor, and compared with the acting force provided by a single flow field, the coupling flow field generated by combined flow provides larger lifting force, and ore particles are easier to start. In order to solve the problem of slow starting of ore particles under constant jet flow, the pulsating jet flow is adopted to vertically start the submarine ore particles, the pulsating jet flow obviously improves the turbulence intensity in the ore collecting flow field, and the larger turbulence intensity obviously strengthens the vertical momentum exchange in the flow field, so that the starting flow rate of the ore particles is greatly reduced to achieve the purposes of low energy consumption, quick start and high acquisition rate.
The mineral collecting device is high in mobility, double-freedom-degree movement of the mineral collecting device is realized by using the lifting system and the movable guide mechanism, and the working efficiency of the mineral collecting device is effectively improved. Compared with the traditional mining device, the device has the advantages that the mining operation with the same area is carried out, the moving range is smaller, and disturbance of the crawler travelling process of the mining vehicle on submarine sediments is reduced. The design of the lifting system enables the ore collecting opening to be vertically adjusted, and the range of the operation area of the ore collecting device is enlarged.
The ore collecting method of the submarine ore grain double-freedom-degree local dynamic closed collecting device comprises the following steps: mining: after the device reaches an ore collecting operation area, the height of the ore collecting device from the sea bottom, the angle of the ore collecting device and the angle of a hydraulic jet nozzle are adjusted according to signals transmitted by a sensor according to terrain conditions; when the high-pressure high-speed water flow is started and ore particles are denser, uniform-speed water flow ore collection is selected, when the ore particles are sparser, pulse water flow ore collection is selected, after the critical flow speed for vertical starting of the submarine ore particles is reached, the ore particles are separated from the seabed, the suction flow is synchronously started, and the mineral particles enter an ore conveying pipeline under the action of a coupling flow field; after the ore particles in the target area are collected, the ore collecting device transversely moves to reach the next operation area under the guiding action of the movable guide rod to carry out collection operation; repeating the above process for multiple times to realize carpet scanning type mineral collection; the ore collecting device collects ore particles into a pipeline in a hydraulic suction mode, the collecting and sucking pipeline is a hose, the other end of the collecting and sucking pipeline is connected with a storage bin, and the storage bin plays a role in temporarily storing minerals;
and (3) adjusting the height of the ore collecting device from the bottom: the lifting system consists of a lifting oil cylinder and a lifting guide rod, and the vertical height of the ore collecting device is controlled by controlling a hydraulic control valve through a PID controller through the submarine topography data acquired by the visual perception system and the laser ranging sensor.
The technical effects achieved by the application are as follows:
1: adopting a hairbrush to form local dynamic closed space type ore collection: in order to overcome the disturbance of the existing ore collecting device to the seabed ultra-soft soil, the brush adopted by the invention has flexibility, can make morphological changes according to different terrains, and the top end of the brush is attached to the seabed surface to form a small-range closed space, so that the diffusion of seabed sediments in the ore collecting process can be effectively inhibited, and the disturbance and pollution to the seabed environment are reduced.
2: carpet type large-scale collection operation: in order to overcome the defect of low operation efficiency of the existing collecting equipment, the invention adopts the transverse moving guide bar, the ore collecting port can move in two degrees of freedom directions, the carpet scanning type ore collecting is realized, the frequent starting and stopping of the mining vehicle are avoided, the mining efficiency is improved, and the energy consumption is reduced. In order to enlarge the operable range of the mining vehicle, the invention adopts the lifting device to adjust the distance between the ore collecting device and the sea bottom surface, and the vertical lifting of the ore collecting device is realized by adjusting the hydraulic pressure of the lifting oil cylinder according to the topography requirement, thereby adapting to the complicated seabed topography.
3: jet-suction flow-brush coupling flow field: in order to accelerate the starting of submarine ore particles and improve the collection efficiency, the invention adopts the pulsating jet flow and the suction flow to form a coupling flow field, meanwhile, the flow field is closed by the flexible brush, the collection efficiency of the ore is accelerated, the starting efficiency of the ore is improved by the pulsating jet flow, and compared with the steady flow, the vertical starting critical flow rate required by the pulsating jet flow is lower, and the energy consumption is reduced.
4: adopt vision perception system and collection ore deposit device to leave the high control mechanism of end: the recognition result of the ground image obtained by the camera and the distance information measured by the laser radar are mutually verified through the visual perception system, so that the double-information-source fusion perception system is formed, a sufficient information source is provided for the height adjustment of the ore collecting device, the fitting degree of the flexible hairbrush and the ground is improved, and the effect of local dynamic space sealing is enhanced.
The environmental disturbance of the acquisition process is smaller: compared with mechanical mining, hydraulic suction does not damage a seabed board junction layer, and disturbance to seabed ultra-soft soil can be reduced to the greatest extent, so that diffusion of seabed sediments is reduced to the greatest extent, and the seabed ecological environment is protected; aiming at the problem of sediment diffusion caused by submarine mining, a flexible brush is adopted to form a good local dynamic sealing effect, so that further diffusion of pollutants is shielded, the sediment plume concentration in a mining area is improved, and flocculation and precipitation are accelerated.
The mineral collection efficiency is higher: the ore collecting device adopts 8 high-pressure hydraulic jet nozzles, the vertical momentum exchange of water particles in a flow field is enhanced by utilizing the characteristics of pulsating jet, the flow and the flow velocity required by the starting of submarine ore are reduced, and the starting of the ore is quickened; the jet flow and the suction flow form a coupling flow field and interact with the flexible hairbrush, so that the formed closed flow field has larger acting force compared with a single flow field, and the collection of ores is quickened; the special double-freedom-degree moving mode of the ore collecting device provides a carpet type scanning and collecting function, and the collecting operation efficiency is greatly improved.
The energy consumption of the acquisition device is low: the existing ore collecting device does not have a carpet scanning type collecting function, and the mining vehicle needs to be started and stopped frequently in a large-scale operation, so that energy waste is caused, and unnecessary resource loss is reduced to a certain extent due to double-freedom-degree movement; the characteristics of pulsating jet flow are fully utilized, the ore collecting operation with low flow and low critical starting flow speed is realized by increasing the turbulence level of the ore collecting flow field, and the energy consumption is reduced compared with the steady jet flow.
Drawings
Fig. 1 is a state of ore collecting on a seabed surface of an ore collecting device (a left diagram is a bottom-attached ore collecting process, and a right diagram is a bottom-off lifting process);
FIG. 2 is a top view of the ore collecting apparatus;
FIG. 3 is a view of the ore collecting device in a submarine ore collecting state A;
fig. 4 is a view of the moving mechanism B of the ore collecting device;
FIG. 5 is a block diagram of a hydraulic jet nozzle;
in the figure:
1: the environment perception module 2: local space closing module 3: hydraulic jet nozzle module 4: ore particle suction inlet 5 of ore collecting device: mineral collection and conveying hose 6: lifting cylinder 7: submarine mine floor 8: lifting guide 9:8 jet nozzle modules 10: the moving guide bar 11: movement mechanism 12: a moving mechanism nut 13: moving the lead screw 14: driving motor
Detailed Description
The invention is further described below with reference to examples and figures.
The device comprises an environment sensing module 1, a double-freedom-degree motion control module, a local space sealing module 2, a hydraulic jet nozzle module 3, a mineral grain suction inlet 4 of the mineral collecting device, a mineral collecting conveying hose 5 and a mineral collecting device off-bottom height control mechanism; the environment sensing module is positioned at the front end of the ore collecting device through an overhanging bracket; the double-freedom-degree motion control module consists of a lifting system and a transverse moving system, wherein the lifting system consists of a lifting oil cylinder 6 and a lifting guide 8 and is positioned at the rear upper part of the ore collecting device, and the transverse moving system consists of a moving guide bar 10, a moving mechanism 11, a moving screw rod 13, a moving mechanism nut 12 and a driving motor 14 (a hydraulic motor or an underwater motor) and is positioned at the rear upper part of the ore collecting device; the local space sealing module forms a local sealing space around the ore grain suction inlet of the ore collecting device by a flexible brush; the hydraulic jet nozzle module 9 is positioned at the inner side of the partial space sealing module; the ore grain suction inlet of the ore collecting device is positioned in the middle of the hydraulic jet nozzle module; the ore collecting and conveying hose 5 is connected with an ore grain suction inlet of the ore collecting device and a storage bin; the double-degree-of-freedom motion control module realizes the vertical and horizontal double-degree-of-freedom movement of the ore collecting device through the lifting oil cylinder 6 and the driving motor 14, controls the distance between the ore collecting device and the sea bottom surface, and adapts to different sea bottom terrains; the local space sealing module 2 is a flexible brush surrounding the ore grain suction inlet of the ore collecting device, plays a role in local dynamic sealing in the mining process, prevents the diffusion of submarine sediments and reduces environmental disturbance; the hydraulic jet nozzle module vertically starts the submarine minerals through high-pressure and high-speed water flow, and 8 symmetrical distribution is arranged around the ore particle suction inlet of the ore collecting device; the ore collecting and conveying hose 5 is connected with an ore grain suction inlet of the ore collecting device and a storage device, and is a flexible hose, and the ore grain suction inlet of the ore collecting device is provided with a hydraulic suction device.
The environment sensing module 1 adopts a visual sensing system based on a convolutional neural network, and acquires image information through a camera to realize accurate sensing of submarine mining area information; aiming at the problems of low underwater visibility and imaging blurring, the image restoration is carried out through the pre-training generation of the countermeasure network model, so that the quality of the image is improved; and carrying out target detection and identification on the restored image, obtaining mineral particle types, particle diameters and submarine topography information of a mining area, and adjusting the ground clearance of the ore collecting device according to the characteristic information obtained by sensing to realize accurate local dynamic closed space ore collection.
The system receives distance signals measured by the sensors, and automatically calculates vertical height information of the ore collecting device relative to the submarine topography; the system adopts a classical PID control strategy, generates a control signal after receiving the relevant information of the ground clearance height, and adjusts the current ground clearance height of the ore collecting device.
The device utilizes the effect that flexible brush formed dynamic enclosure space, can restrain deposit plume diffusion effectively, has reduced the disturbance to seabed ecological environment, can play the interception effect simultaneously, stops partial ore grain to outwards diffuse, improves the mineral acquisition rate. In addition, the flexible brush is used as a boundary condition of the flow field and interacts with the high-pressure jet flow and the suction flow to form a coupling flow field, so that the starting and collecting of mineral grains are facilitated. The flexible brush can change shape according to different terrains, can adapt to complicated seabed conditions, and has the topography self-adaptation. The dynamic blocking mechanism can effectively improve the collection efficiency of local small-range ore particles and greatly reduce environmental interference.
The coupling flow field is formed by jet flow, suction flow and ocean current on the sea floor, and compared with the acting force provided by a single flow field, the coupling flow field generated by combined flow provides larger lifting force, and ore particles are easier to start. In order to solve the problem of slow starting of ore particles under constant jet flow, the pulsating jet flow is adopted to vertically start the submarine ore particles, the pulsating jet flow obviously improves the turbulence intensity in the ore collecting flow field, and the larger turbulence intensity obviously strengthens the vertical momentum exchange in the flow field, so that the starting flow rate of the ore particles is greatly reduced to achieve the purposes of low energy consumption, quick start and high acquisition rate.
The mineral collecting device is high in maneuverability, double-freedom-degree movement of the mineral collecting device is realized by utilizing the movable guide rod 10, and the working efficiency of the mineral collecting device is effectively improved. Compared with the traditional mining device, the device has the advantages that the mining operation with the same area is carried out, the moving range is smaller, and disturbance of the crawler travelling process of the mining vehicle on submarine sediments is reduced. The design of the lifting system enables the ore collecting opening to be vertically adjusted, and the range of the operation area of the ore collecting device is enlarged.
The ore collecting method of the submarine ore grain double-freedom-degree local dynamic closed collecting device comprises the following steps: mining: after the device reaches the ore collecting operation area, according to the terrain condition, the hydraulic oil cylinder is adjusted by the PID controller according to the signals transmitted by the sensor, so that the lifting and the stretching of a piston in the hydraulic oil cylinder are realized, and the height of the ore collecting device from the ground, the angle of the ore collecting device and the angle of the hydraulic jet nozzle are adjusted; when the high-pressure high-speed water flow is started and ore particles are denser, uniform-speed water flow ore collection is selected, when the ore particles are sparser, pulse water flow ore collection is selected, after the critical flow speed for vertical starting of the submarine ore particles is reached, the ore particles are separated from the seabed, the suction flow is synchronously started, and the mineral particles enter an ore conveying pipeline under the action of a coupling flow field; after the ore particles in the target area are collected, the ore collecting device transversely moves to the next operation area under the guiding action of the movable guide rod 10 to perform collection operation; repeating the above process for multiple times to realize carpet scanning type mineral collection; the ore collecting device collects ore particles into a pipeline in a hydraulic suction mode, the collecting and sucking pipeline is a hose, the other end of the collecting and sucking pipeline is connected with a storage bin, and the storage bin plays a role in temporarily storing minerals;
and (3) adjusting the height of the ore collecting device from the bottom: the lifting system consists of a lifting oil cylinder 6 and a lifting guide 8, and the vertical height of the ore collecting device is controlled by controlling a hydraulic control valve through a PID controller through the submarine topography data acquired by the visual perception system and the laser ranging sensor.
The invention provides a submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collecting device, the above examples only illustrate the characteristics and design ideas of the invention, provide references for technicians to implement the invention, and in practical application, the measuring mode can be flexibly changed according to the change of the implementation environment. The scope of the invention is not limited to this, but rather, the principles and design considerations set forth herein are the same or within reasonable modifications.
Claims (5)
1. The utility model provides a submarine ore grain two degrees of freedom local dynamic closed hydraulic pressure collection ore device which characterized in that: the device comprises an environment sensing module, a double-degree-of-freedom motion control module, a local space closing module, a hydraulic jet nozzle module, a mineral grain suction inlet of the mineral collecting device, a mineral collecting conveying hose and a bottom-off height control mechanism of the mineral collecting device; the environment sensing module is positioned at the front end of the ore collecting device through an overhanging bracket; the double-freedom-degree motion control module consists of a lifting system and a transverse moving system, wherein the lifting system consists of a lifting oil cylinder and a lifting guide and is positioned at the rear upper part of the ore collecting device; the local space sealing module forms a local sealing space around the ore grain suction inlet of the ore collecting device by a flexible brush; the hydraulic jet nozzle module is positioned at the inner side of the local space sealing module; the ore grain suction inlet of the ore collecting device is positioned in the middle of the hydraulic jet nozzle module; the ore collection conveying hose is connected with an ore grain suction inlet of the ore collection device and the storage bin; the double-degree-of-freedom motion control module realizes the vertical and horizontal double-degree-of-freedom movement of the ore collecting device through the lifting oil cylinder and the driving motor, controls the distance between the ore collecting device and the sea bottom surface, and adapts to different sea bottom terrains; the local space sealing module is a flexible brush surrounding the ore grain suction inlet of the ore collecting device, plays a role in local dynamic sealing in the mining process, prevents the diffusion of submarine sediments, and reduces environmental disturbance; the hydraulic jet nozzle module vertically starts the submarine minerals through high-pressure and high-speed water flow, and 8 symmetrical distribution is arranged around the ore particle suction inlet of the ore collecting device; the ore collection conveying hose is connected with the ore grain suction inlet of the ore collection device and the storage device, and is a flexible hose, and the ore grain suction inlet of the ore collection device is provided with a hydraulic suction device.
2. The submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collection device according to claim 1, wherein the hydraulic ore collection device is characterized in that: the environment sensing module adopts a visual sensing system based on a convolutional neural network, and acquires image information through a camera to realize accurate sensing of submarine mining area information; aiming at the problems of low underwater visibility and imaging blurring, the image restoration is carried out through the pre-training generation of the countermeasure network model, so that the quality of the image is improved; and carrying out target detection and identification on the restored image, obtaining mineral particle types, particle diameters and submarine topography information of a mining area, and adjusting the ground clearance of the ore collecting device and the included angle between the flexible brush and the ground according to the characteristic information obtained by sensing to realize accurate local dynamic closed space ore collection.
3. The submarine ore grain double-degree-of-freedom partially dynamic closed hydraulic ore collection device according to claim 2, wherein: the system receives distance signals measured by the sensors, and automatically calculates vertical height information of the ore collecting device relative to submarine topography; the system adopts a classical PID control strategy, generates a control signal after receiving the relevant information of the ground clearance height, and adjusts the current ground clearance height of the ore collecting device;
and (3) adjusting the height of the ore collecting device from the bottom: the lifting system consists of a lifting oil cylinder and a lifting guide rod, and the vertical height of the ore collecting device is controlled by controlling a hydraulic control valve through a PID controller through the submarine topography data acquired by the visual perception system and the laser ranging sensor.
4. A submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collection device according to claim 3, wherein: the device utilizes the function of the flexible hairbrush to form a dynamic closed space, can effectively inhibit sediment plume from diffusing, reduces disturbance to the submarine ecological environment, can play a role in interception, prevents partial ore particles from diffusing outwards, and improves the mineral collection rate; the flexible brush is used as a boundary condition of the flow field and interacts with the high-pressure jet flow and the suction flow to form a coupling flow field, so that the starting and collecting of mineral grains are facilitated; the flexible brush can change shape according to different terrains, and can adapt to complicated seabed conditions.
5. The use method of the submarine ore grain double-degree-of-freedom local dynamic closed hydraulic ore collecting device according to claim 4: mining: after the device reaches the ore collecting operation area, the hydraulic oil cylinder is adjusted by the PID controller according to signals transmitted by the sensor according to the topography condition, so that the lifting and the extension of a piston in the hydraulic oil cylinder are realized, and the height of the ore collecting device from the sea bottom surface and the angle of the hydraulic jet nozzle are adjusted; when the high-pressure high-speed water flow is started and ore particles are denser, uniform-speed water flow ore collection is selected, when the ore particles are sparser, pulse water flow ore collection is selected, after the critical flow speed for vertical starting of the submarine ore particles is reached, the ore particles are separated from the seabed, the suction flow is synchronously started, and the mineral particles enter an ore conveying pipeline under the action of a coupling flow field; after the ore particles in the target area are collected, the ore collecting device transversely moves to reach the next operation area under the guiding action of the movable guide rod to carry out collection operation; repeating the above process for multiple times to realize carpet scanning type mineral collection; the ore collecting device collects ore particles into the pipeline in a hydraulic suction mode, the collecting and sucking pipeline is a hose, the other end of the collecting and sucking pipeline is connected with the storage bin, and the storage bin plays a role in temporarily storing minerals.
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