CN220849667U - Deep sea mining system based on ultra-short baseline positioning - Google Patents
Deep sea mining system based on ultra-short baseline positioning Download PDFInfo
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Abstract
The utility model relates to the technical field of deep sea mining, in particular to a deep sea mining system based on ultra-short baseline positioning; comprising the following steps: mining vessels, transfer pipelines, mining vehicles and underwater robots; the mining ship is provided with a pre-positioning assembly, and two ends of the transmission pipeline are respectively connected with the mining ship and the mining vehicle; the underwater robot is in communication connection with the mining ship; the mining ship, the mining vehicle and the underwater robot are provided with low-frequency ultra-short baseline positioning components which are connected in underwater acoustic communication; the transmission pipeline, the mining vehicle and the underwater robot are respectively provided with an intermediate frequency ultra-short baseline positioning component, and the intermediate frequency ultra-short baseline positioning components arranged on the transmission pipeline, the mining vehicle and/or the underwater robot are connected in underwater acoustic communication; the mining vehicle and the underwater robot are provided with obstacle avoidance sonar. The utility model realizes the protection against underwater collision, avoids the winding or breaking of the transmission pipeline and the cable, and can control the acquisition area.
Description
Technical Field
The utility model relates to the technical field of deep sea mining, in particular to a deep sea mining system based on ultra-short baseline positioning.
Background
The submarine mining is the work of mining submarine mineral resources, and mainly collects submarine surface sediment with shallower water depth, such as placer, apatite, multi-metal nodules and the like. Key technologies for exploitation of submarine resources at the present stage include: mining of submarine ore bodies and underwater lifting and transporting of the ore.
Underwater equipment in an underwater operation system such as deep sea mining needs to continuously work on the sea bottom for a long time, the specific position of the underwater equipment cannot be known in the deep sea of 4000-6000 m, and when a plurality of mining vehicles operate simultaneously, the mining vehicles are ensured not to collide with underwater obstacles, underwater robots and the like; in the operation process, how to ensure that the mining vehicle needs to collect the mineral enrichment area instead of repeatedly collecting the old mining area; how to ensure that the conditions of transmission pipelines, cable winding or even stretch-breaking do not occur, and the problems cannot be solved.
In view of the foregoing, there is a need for a deep sea mining system that can avoid underwater collisions, transmission pipelines, cable winds or being pulled apart, and can control the collection area.
Disclosure of utility model
The utility model provides a deep sea mining system based on ultra-short baseline positioning, which is used for solving the problems that underwater collision, transmission pipeline, cable winding or stretch-breaking cannot be avoided and an acquisition area cannot be controlled in the prior art.
The utility model provides a deep sea mining system based on ultra-short baseline positioning, which comprises: mining vessels, transfer pipelines, mining vehicles and underwater robots;
The mining ship is provided with a pre-positioning assembly;
Two ends of the transmission pipeline are respectively connected with the mining ship and the mining vehicle;
The mining ship, the mining vehicle and the underwater robot are provided with low-frequency ultra-short baseline positioning components which are respectively connected in underwater acoustic communication;
The medium-frequency ultra-short baseline positioning components are respectively arranged on the transmission pipeline, the mining vehicle or/and the underwater robot and are respectively connected in underwater acoustic communication;
And the mining vehicle and the underwater robot are provided with obstacle avoidance sonar.
According to the deep sea mining system based on ultra-short baseline positioning, the preset bit assembly comprises a GPS module or/and a Beidou positioning module.
According to the utility model, the deep sea mining system based on ultra-short baseline positioning further comprises: a first repeater and a second repeater;
The first repeater and the second repeater are respectively provided with a low-frequency ultra-short baseline positioning component and a medium-frequency ultra-short baseline positioning component;
the mining vessel and the mining vehicle are respectively in communication connection with the first repeater;
The mining ship and the underwater robot are respectively in communication connection with the second repeater;
The underwater acoustic communication system comprises a low-frequency ultra-short baseline positioning assembly arranged on the mining ship, a low-frequency ultra-short baseline positioning assembly arranged on the mining vehicle, a low-frequency ultra-short baseline positioning assembly arranged on the underwater robot, a low-frequency ultra-short baseline positioning assembly arranged on the first repeater and a low-frequency ultra-short baseline positioning assembly arranged on the second repeater;
The underwater acoustic communication system comprises an intermediate frequency ultra-short baseline positioning assembly arranged on the transmission pipeline, an intermediate frequency ultra-short baseline positioning assembly arranged on the mining vehicle, an intermediate frequency ultra-short baseline positioning assembly arranged on the underwater robot, an intermediate frequency ultra-short baseline positioning assembly arranged on the first repeater and an intermediate frequency ultra-short baseline positioning assembly arranged on the second repeater.
According to the deep sea mining system based on ultra-short baseline positioning, the underwater robot is provided with the lighting module and the camera module.
According to the utility model, the deep sea mining system based on ultra-short baseline positioning is provided, and the transmission pipeline comprises: a transfer riser and a transfer hose;
Two ends of the transmission vertical pipe are respectively connected with one ends of the mining ship and the transmission hose;
The other end of the transmission hose is connected with the mining vehicle;
The intermediate frequency ultra-short baseline positioning component is arranged at the joint of the transmission vertical pipe and the transmission hose;
the transfer pipeline is used for recovering and transferring minerals on the mining vehicle to the mining ship.
The utility model provides a deep sea mining system based on ultra-short baseline positioning, which further comprises: the system further comprises: and the lifting mechanism is arranged on the mining ship and is used for distributing and recycling the underwater robot or the mining vehicle.
According to the utility model, the deep sea mining system based on ultra-short baseline positioning is provided, and the lifting mechanism comprises: winch and cable;
The winch is arranged on the mining ship, the cable is wound on the winch, and one end of the cable is connected with the underwater robot or the mining vehicle in a working state.
According to the deep sea mining system based on ultra-short baseline positioning, the depth gauge is arranged at the top of the mining car, and the altimeter is arranged at the bottom of the mining car; the depth gauge and the altimeter are both in communication with the mining vessel.
According to the deep sea mining system based on ultra-short baseline positioning, inertial navigation modules for autonomous navigation are respectively arranged on the mining vehicle and the underwater robot.
The deep sea mining system based on ultra-short baseline positioning provided by the utility model is used for absolute positioning of mining position areas by arranging a mining ship, a transmission pipeline, a mining vehicle and an underwater robot and utilizing underwater acoustic communication among a low-frequency ultra-short baseline positioning assembly arranged on the mining ship, a low-frequency ultra-short baseline positioning assembly arranged on the mining vehicle and a low-frequency ultra-short baseline positioning assembly arranged on the underwater robot, so that the mining vehicle can work in a mineral enrichment area, the mining vehicle can be used for transmitting the mine mined by the mining vehicle to the mining ship through the transmission pipeline, and the drainage and recovery of the mining vehicle and the underwater robot are facilitated. The underwater acoustic communication is carried out between the intermediate frequency ultra-short baseline positioning assembly arranged on the transmission pipeline, the intermediate frequency ultra-short baseline positioning assembly arranged on the mining vehicle and the intermediate frequency ultra-short baseline positioning assembly arranged on the underwater robot, and the underwater acoustic communication is used for positioning the relative positions among the transmission pipeline, the mining vehicle and the underwater robot, and the detection of the obstacle avoidance sonar is combined, so that the mining vehicle is prevented from deviating, collision occurs, and the transmission pipeline is prevented from being broken and wound.
Drawings
In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a deep sea mining system based on ultra-short baseline positioning according to one of the present utility model.
FIG. 2 is a schematic diagram of a deep sea mining system based on ultra-short baseline positioning according to a second embodiment of the present utility model.
Reference numerals:
The mining vessel 100, the transfer piping 110, the transfer riser 111, the transfer hose 112, the mining vehicle 120, the underwater robot 130, the low frequency ultra-short baseline positioning assembly 140, the intermediate frequency ultra-short baseline positioning assembly 150, the obstacle avoidance sonar 160, the reservation assembly 170, the first repeater 181, the second repeater 182, the lighting module 190, the camera module 200, the lifting mechanism 210, the winch 211, the cable 212, the depth gauge 220, the altimeter 230, and the inertial navigation module 240.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The following describes a deep sea mining system based on ultra-short baseline positioning according to the present utility model in connection with fig. 1, comprising: a mining vessel 100, a transfer pipeline 110, a mining vehicle 120 and an underwater robot 130. In this embodiment, the mining vehicle 120 is provided with two.
The mining vessel 100 is fitted with a pre-positioning assembly 170 to obtain the mining position of the mining vessel 100.
The two ends of the transfer pipe 110 are connected to the mining ship 100 and the mining vehicle 120, respectively. The transfer line 110 is used to transport ore collected by the mining vessel 100 to the mining vessel 100. The transfer pipe 110 includes: a transfer riser 111 and a transfer hose 112, wherein the transfer hose 112 determines the size of the hose safety envelope.
The underwater robot 130 is communicatively connected to the mining vessel 100 such that the underwater robot 130 is used to guide the mining vehicle 120 for launch, recovery and mining. Specifically, the underwater robot 130 is a Remotely Operated Vehicle (ROV) that is controlled to direct the mining vehicle 120 for launch, recovery and mining.
The mining vessel 100, mining vehicle 120 and underwater robot 130 are each provided with a low frequency ultra-short baseline positioning assembly 140; the low frequency ultra-short baseline positioning assembly 140 mounted on the mining vessel 100, the mining vehicle 120 and the underwater robot 130 is connected in underwater acoustic communication for absolute positioning of the mining vehicle 120 and the underwater robot 140, respectively, to prevent the mining vehicle 120 and the underwater robot 140 from exceeding the safety range of the transmission pipeline 110. In this embodiment, the low-frequency ultra-short baseline positioning assembly 140 mounted on the mining ship, the low-frequency ultra-short baseline positioning assembly 140 mounted on the mining vehicle and the low-frequency ultra-short baseline positioning assembly 140 mounted on the underwater robot are connected in underwater acoustic communication. The mining vehicle 120 is ensured to operate in a mineral enrichment zone by means of underwater acoustic communication between the low frequency ultra-short baseline positioning assembly 140 mounted on the mining vessel 100, the low frequency ultra-short baseline positioning assembly 140 mounted on the mining vehicle 120 and the low frequency ultra-short baseline positioning assembly 140 mounted on the underwater robot 130, while also facilitating testing and recovery during the launch of the mining vehicle 120 and the underwater robot 130.
The transmission pipeline 110, the mining vehicle 120 or/and the underwater robot 130 are all provided with an intermediate frequency ultra-short baseline positioning assembly 150, and the intermediate frequency ultra-short baseline positioning assemblies 150 which are arranged on the transmission pipeline 110, the mining vehicle 120 or/and the underwater robot 130 are respectively connected in underwater acoustic communication and are used for relatively positioning the transmission pipeline 110, the mining vehicle 120 or/and the underwater robot 130 so as to determine the safe working distance of the transmission pipeline 110, the mining vehicle 120 or/and the underwater robot 130 and prevent the mining vehicle 120 or/and the underwater robot 130 from collision and the transmission pipeline 110 from winding. In this embodiment, the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the transmission pipeline 110, the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the mining vehicle 120, and the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the underwater robot 130 are connected in underwater acoustic communication with each other.
The mining vehicle 120 and the underwater robot 130 are provided with obstacle avoidance sonar 160, and the obstacle avoidance sonar is used for detecting underwater obstacles and the mining vehicle 120 and the underwater robot 130 which are not far apart from a safe operation distance. The underwater acoustic communication is performed between the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the transmission pipeline 110, the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the underwater robot 130 and the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the mining vehicle 120, so that the relative positioning of the position between the mining vehicle 120 and the unmanned remote-controlled submersible is realized, and the mining vehicle 120 is prevented from deviating.
The utility model is used for absolute positioning of mining position areas by means of underwater acoustic communication between the low-frequency ultra-short baseline positioning assembly 140 mounted on the mining vessel 100, the low-frequency ultra-short baseline positioning assembly 140 mounted on the mining vehicle 120 and the low-frequency ultra-short baseline positioning assembly 140 mounted on the underwater robot 130, ensuring that the mining vehicle 120 operates in a mineral enrichment area, so that the mine mined by the mining vehicle 120 is transmitted to the mining vessel 100 through the transmission hose 112, and the drainage and recovery of the mining vehicle 120 and the underwater robot 130 are facilitated. The underwater acoustic communication is performed between the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the transmission pipeline 110, the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the mining vehicle 120 and the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the underwater robot 130 for positioning the relative positions among the transmission pipeline 110, the mining vehicle 120 and the underwater robot 130, so that the mining vehicle 120 is prevented from deflecting, and the transmission hose 112 is broken. And, the active avoidance of the object is performed through the obstacle avoidance sonar 160, so that the mining vehicle 120 and the underwater robot 130 are prevented from collision.
Referring to fig. 2, on the basis of the above embodiments, a predetermined assembly in a deep sea mining system based on ultra-short baseline positioning according to the present utility model includes a GPS module and/or a beidou positioning module. The GPS module or/and the Beidou positioning module is used for positioning the mining ship 100 in a mining area.
The GPS module or/and the beidou positioning module is mounted on the mining vessel 100. After the mining ship 100 reaches a preset operation area, the mining vehicle 120 is subjected to regional task allocation after being subjected to preset positioning by utilizing a GPS module or/and a Beidou positioning module, the size of the allocation positioning area is performed according to preset requirements or actual working requirements, and positioning is performed according to a preset positioning manual.
On the basis of the above embodiment, the deep sea mining system based on ultra-short baseline positioning of the present utility model further comprises: a first repeater 181 and a second repeater 182.
The first repeater 181 and the second repeater 182 are respectively provided with a low-frequency ultra-short baseline positioning assembly 140 and an intermediate-frequency ultra-short baseline positioning assembly 150.
The mining vessel 100 and the mining vehicle 120 are each communicatively connected to the first repeater 181. Such that the mining vessel 100 and the mining vehicle 120 communicate in relay communication via the first relay 181.
The mining vessel 100 and the underwater robot 130 are communicatively coupled to the second repeater 182, respectively. Such that the mining vessel 100 and the underwater robot 130 relay communication through the second relay 182.
The low frequency ultra-short baseline positioning assembly 140 mounted on the mining vessel 100, the low frequency ultra-short baseline positioning assembly 140 mounted on the mining vehicle 120, the low frequency ultra-short baseline positioning assembly 140 mounted on the underwater robot 130, the low frequency ultra-short baseline positioning assembly 140 mounted on the first repeater 181, and the low frequency ultra-short baseline positioning assembly mounted on the second repeater 182 are connected in underwater acoustic communication. The positioning of the respective location areas and thus the absolute positioning of the mining location areas of the mining vehicle 120 is achieved by means of the low frequency ultra short baseline positioning assemblies 140 mounted on the mining vessel 100, the mining vehicle 120, the underwater robot 130, the first relay 181 and the second relay 182, respectively, in underwater acoustic communication with each other.
The intermediate frequency ultra-short baseline positioning assembly 150 mounted on the transmission pipeline 110, the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the mining vehicle 120, the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the underwater robot 130, the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the first repeater 181, and the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the second repeater 182 are connected in underwater acoustic communication. Thereby achieving a positioning of the relative positions of the mining vehicle 120, the underwater robot 130, the first relay 181 and the second relay 182 and also avoiding a winding of the underwater cable 212.
On the basis of the above embodiments, the underwater robot 130 of the present utility model is mounted with the illumination module 190 and the camera module 200.
The underwater robot 130 is further configured to acquire the operating condition of the mining vehicle 120 through a camera module 200 with the aid of the illumination module 190.
The illumination module 190 and the camera module 200 are mounted on the underwater robot 130. The mining vehicle 120 is provided with light by the lighting module 190, and the camera module 200 enables the mining vehicle 120 to be imaged.
On the basis of the above embodiments, the transmission pipe 110 in the present utility model includes: a transfer riser 111 and a transfer hose 112. In this embodiment, the transfer riser 111 is formed by a series connection of multiple stages of lift pumps, and the cables of the lift pumps may be tied to the transfer riser 111. Wherein the transfer hose 112 may be chosen to be 360 meters, thereby avoiding that the mining vehicle 120 breaks the transfer hose 112.
Both ends of the transfer riser 111 are connected to one ends of the mining vessel 100 and the transfer hose 112, respectively.
The other end of the transfer hose 112 is connected to the mining vehicle 120.
The junction of the transfer riser 111 and the transfer hose 112 is provided with an intermediate frequency ultra-short baseline positioning assembly 150. The transfer line 110 is used to transfer mineral recovery on the mining vehicle 120 to the mining vessel 100. Namely, the intermediate frequency ultra-short baseline positioning assembly 150 at the junction of the transfer riser 111 and the transfer hose 112 facilitates positioning the relative positions of the mining vehicle 120 and the underwater robot 130, respectively, and the transfer piping 110.
On the basis of the above embodiments, the deep sea mining system based on ultra-short baseline positioning of the present utility model further comprises: a lifting mechanism 210 mounted on the mining vessel 100, said lifting mechanism 210 being used for launching and retrieving the underwater robot 130 or said mining vehicle 120.
Specifically, the lifting mechanism 210 includes: winch 211 and cable 212.
The winch 211 is installed on the mining ship 100, the cable 212 is wound around the winch 211, and one end of the cable 212 is connected with the underwater robot 130 or the mining vehicle 120 in an operating state. So that the mining vehicle 120 and the underwater robot 130 are launched or retrieved respectively through the co-operation of the winch 211 and the cable 212. Specifically, in operation, the mining vessel 100, the first repeater 181 and the mining vehicle 120 are connected by a cable 212, the first repeater 181 is mounted on the cable 212, and the positioning is performed by the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the first repeater 181; at the same time, the mining vessel 100, the second repeater 182 and the underwater robot 130 are connected by another cable 212, and are positioned by the intermediate frequency ultra-short baseline positioning assembly 150 mounted on the second repeater 182, thereby avoiding the winding of the cable 212.
On the basis of the above embodiments, the top of the mining vehicle 120 is fitted with a depth gauge 220 and the bottom of the mining vehicle 120 is fitted with a height gauge 230.
The depth gauge 220 and the height gauge 230 are both communicatively connected to the mining vessel 100. Wherein the underwater robot 130 may also be provided with a depth gauge 220 and an altimeter 230.
By the arrangement of the depth gauge 220 and the height gauge 230, the depth of the mining vehicle 120 or the underwater robot 130 to be launched or retrieved, respectively, is measured by the depth gauge 220, and the height of the mining vehicle 120 or the underwater robot 130 to the sea floor is measured by the height gauge 230. On the basis of the above embodiments, the present utility model further includes: inertial navigation modules 240 for autonomous navigation of each are respectively installed on the mining vehicle 120 and the underwater robot 130; i.e. the mining vehicle 120 and the underwater robot 130 are respectively provided with an inertial navigation module 240 for autonomous navigation of the mining vehicle 120 and autonomous navigation of the underwater robot 130. Autonomous navigation of the mining vehicle 120 and the underwater robot 130 is achieved by the inertial navigation module 240.
The utility model provides a working principle of positioning a deep sea mining system based on ultra-short baseline positioning, which comprises the following steps: a positioning step during laying, a positioning step during working and a positioning step during recovery.
The positioning step during deployment includes:
After the mining vessel arrives at the mining area, the mining vehicle is launched. Before this step, the pre-positioning is performed by a GPS module or/and a beidou positioning module, so that the mining ship reaches the mining area. Specifically, after the mining vessel arrives at the mining area, the mining vehicle is launched with a winch and cable.
And when the depth of the mine car launching reaches at least the first depth, performing a first functional test on the low-frequency ultra-short baseline positioning assembly, the medium-frequency ultra-short baseline positioning assembly and the obstacle avoidance sonar which are installed on the mine car. In the embodiment, the depth of the mining vehicle launching is judged by utilizing the depth gauge and the length of the cable, and when the depth of the mining vehicle launching reaches 100 meters, the low-frequency ultra-short baseline positioning assembly, the medium-frequency ultra-short baseline positioning assembly and the obstacle avoidance sonar which are arranged on the mining vehicle are subjected to a first functional test, so that whether the low-frequency ultra-short baseline positioning assembly, the medium-frequency ultra-short baseline positioning assembly and the obstacle avoidance sonar on the mining vehicle are normal is judged. Specifically, the first depth is 100 meters.
After the first functional test is passed, the mining vehicle is continuously lowered, and the underwater robot is launched when the depth of the mining vehicle launch is at least a second depth from the sea floor. Specifically, the second depth is 50 meters.
And when the depth of the underwater robot in the water reaches at least the first depth, performing a second functional test on the low-frequency ultra-short baseline positioning assembly, the medium-frequency ultra-short baseline positioning assembly and the obstacle avoidance sonar which are arranged on the underwater robot. In this embodiment, the depth of the underwater robot is determined by using the altimeter and the length of the cable, and when the depth of the underwater robot reaches the first depth, the second functional test is performed on the low-frequency ultrashort baseline positioning assembly, the intermediate-frequency ultrashort baseline positioning assembly and the obstacle avoidance sonar mounted on the underwater robot.
After the second functional test is passed, slowly lowering the mining vehicle to at least a third depth from the seabed with the assistance of the underwater robot, and performing the third functional test on the low-frequency ultra-short baseline positioning assembly, the medium-frequency ultra-short baseline positioning assembly and the obstacle avoidance sonar on the mining vehicle and the underwater robot respectively. Thereby ensuring that the mining vehicle is within the mineral enrichment zone. Wherein the third depth is 20 meters.
And after the third functional test is successful, the mining vehicle and the underwater robot are lowered to the seabed, and the mining position of the mining ship is obtained through the preset component. In the process of launching, the lighting module is used for providing light, and the camera shooting module is used for shooting, so that the mutual winding of cables is avoided.
The positioning step during the operation includes:
The mining vehicle and the underwater robot are driven to perform the operation.
The mining ship is used for combining the mining ship for positioning, and the low-frequency ultra-short baseline positioning assembly is used for carrying out underwater acoustic communication for absolute positioning of the mining vehicle or/and the underwater robot so as to prevent the mining vehicle or/and the underwater robot from exceeding the safety range of a transmission pipeline.
After absolute positioning, the intermediate frequency ultra-short baseline positioning assembly on the transmission pipeline, the intermediate frequency ultra-short baseline positioning assembly on the mining vehicle and the intermediate frequency ultra-short baseline positioning assembly on the underwater robot are used for mutual communication, and after active obstacle avoidance is carried out by using the obstacle avoidance sonar on the mining vehicle and the obstacle avoidance sonar on the underwater robot, the distance for safe operation is determined, so that the mining vehicle and the underwater robot can carry out safe operation. Thereby ensuring that the mining vehicle collides with the underwater robot and simultaneously avoiding breaking the transmission pipeline.
The locating step during the recycling includes:
the mining vehicle and the underwater robot are driven to perform recovery operations.
And the medium frequency ultra-short baseline positioning assembly on the transmission pipeline, the medium frequency ultra-short baseline positioning assembly on the mining vehicle and the medium frequency ultra-short baseline positioning assembly on the underwater robot are used for mutual communication, so that the transmission hose, the mining vehicle and the underwater robot are used for carrying out relative positioning of recovery positions in a mining area, and recovery of the mining vehicle and the underwater robot is started by referring to the recovery positions.
In the recycling process, active obstacle avoidance is performed by using the obstacle avoidance sonar on the mining vehicle and the obstacle avoidance sonar on the underwater robot to ensure the safe working distance.
When the mining vehicle and the underwater robot are recovered, the intermediate frequency short baseline positioning assembly on the mining vehicle, the intermediate frequency short baseline positioning assembly on the underwater robot, the intermediate frequency short baseline positioning assembly on the first repeater and the intermediate frequency short baseline positioning assembly on the second repeater are utilized to perform positioning and butt joint, the lighting module is utilized to provide light assistance, the camera shooting module is used for shooting, collision between the mining vehicle and the underwater robot is avoided, and winding of a cable is avoided.
According to the utility model, through the arrangement of the low-frequency ultra-short baseline positioning assembly, the medium-frequency ultra-short baseline positioning assembly and the obstacle avoidance sonar, the mining vehicle and the underwater robot are positioned in the period of launching, the operation period and the recovery period, so that the safety of the mining vehicle and the underwater robot in the period of launching is ensured; the active avoidance of the object is carried out through the obstacle avoidance sonar, so that the mining vehicle and the underwater robot are prevented from collision, the mining vehicle is ensured to operate in an enrichment area of mineral products, the mine mined by the mining vehicle is transmitted to the mining ship through the transmission hose, and the recovery of the mining vehicle and the underwater robot is also facilitated. Meanwhile, the medium-frequency ultra-short baseline positioning assembly on the mining vehicle is communicated with the medium-frequency ultra-short baseline positioning assembly on the underwater robot, so that the mining vehicle is used for positioning the relative positions of the mining ship, the mining vehicle and the underwater robot, and the mining vehicle is prevented from deviating and the transmission hose is prevented from being broken.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.
Claims (9)
1. A deep sea mining system based on ultra-short baseline positioning, the system comprising: mining vessels, transfer pipelines, mining vehicles and underwater robots;
The mining ship is provided with a pre-positioning assembly;
Two ends of the transmission pipeline are respectively connected with the mining ship and the mining vehicle;
The mining ship, the mining vehicle and the underwater robot are provided with low-frequency ultra-short baseline positioning components which are respectively connected in underwater acoustic communication;
The medium-frequency ultra-short baseline positioning components are respectively arranged on the transmission pipeline, the mining vehicle or/and the underwater robot and are respectively connected in underwater acoustic communication;
And the mining vehicle and the underwater robot are provided with obstacle avoidance sonar.
2. The ultra-short baseline positioning-based deep sea mining system according to claim 1, wherein the predetermined bit assembly includes a GPS module or/and a beidou positioning module.
3. The ultra-short baseline positioning based deep sea mining system according to claim 1, wherein the system further comprises: a first repeater and a second repeater;
The first repeater and the second repeater are respectively provided with a low-frequency ultra-short baseline positioning component and a medium-frequency ultra-short baseline positioning component;
the mining vessel and the mining vehicle are respectively in communication connection with the first repeater;
The mining ship and the underwater robot are respectively in communication connection with the second repeater;
The underwater acoustic communication system comprises a low-frequency ultra-short baseline positioning assembly arranged on the mining ship, a low-frequency ultra-short baseline positioning assembly arranged on the mining vehicle, a low-frequency ultra-short baseline positioning assembly arranged on the underwater robot, a low-frequency ultra-short baseline positioning assembly arranged on the first repeater and a low-frequency ultra-short baseline positioning assembly arranged on the second repeater;
The underwater acoustic communication system comprises an intermediate frequency ultra-short baseline positioning assembly arranged on the transmission pipeline, an intermediate frequency ultra-short baseline positioning assembly arranged on the mining vehicle, an intermediate frequency ultra-short baseline positioning assembly arranged on the underwater robot, an intermediate frequency ultra-short baseline positioning assembly arranged on the first repeater and an intermediate frequency ultra-short baseline positioning assembly arranged on the second repeater.
4. The ultra-short baseline positioning-based deep sea mining system according to claim 1, wherein the underwater robot has an illumination module and a camera module mounted thereon.
5. The ultra-short baseline positioning based deep sea mining system according to claim 1, wherein the transfer piping comprises: a transfer riser and a transfer hose;
Two ends of the transmission vertical pipe are respectively connected with one ends of the mining ship and the transmission hose;
The other end of the transmission hose is connected with the mining vehicle;
And the junction of the transmission vertical pipe and the transmission hose is provided with the intermediate frequency ultrashort baseline positioning component.
6. The ultra-short baseline positioning based deep sea mining system according to claim 1, wherein the system further comprises: and the lifting mechanism is arranged on the mining ship and is used for distributing and recycling the underwater robot or the mining vehicle.
7. The ultra-short baseline positioning based deep sea mining system according to claim 6, wherein the lifting mechanism includes: winch and cable;
The winch is arranged on the mining ship, the cable is wound on the winch, and one end of the cable is connected with the underwater robot or the mining vehicle in a working state.
8. Deep sea mining system based on ultra short baseline positioning according to claim 1, characterized in that the top of the mining vehicle is fitted with a depth gauge and the bottom of the mining vehicle is fitted with a height gauge;
the depth gauge and the altimeter are both in communication with the mining vessel.
9. The ultra-short baseline positioning based deep sea mining system according to any one of claims 1 to 8, wherein inertial navigation modules for autonomous navigation are mounted on the mining vehicle and the underwater robot, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322754682.2U CN220849667U (en) | 2023-10-13 | 2023-10-13 | Deep sea mining system based on ultra-short baseline positioning |
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