KR20170028693A - Collecting device controller of mining robot for deep-seabed mineral resource and the method thereof - Google Patents
Collecting device controller of mining robot for deep-seabed mineral resource and the method thereof Download PDFInfo
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- KR20170028693A KR20170028693A KR1020150125652A KR20150125652A KR20170028693A KR 20170028693 A KR20170028693 A KR 20170028693A KR 1020150125652 A KR1020150125652 A KR 1020150125652A KR 20150125652 A KR20150125652 A KR 20150125652A KR 20170028693 A KR20170028693 A KR 20170028693A
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- 229910052500 inorganic mineral Inorganic materials 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 46
- 239000011707 mineral Substances 0.000 title claims abstract description 46
- 238000005065 mining Methods 0.000 title abstract description 15
- 230000000694 effects Effects 0.000 claims abstract description 34
- 238000012876 topography Methods 0.000 claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims description 25
- 239000013535 sea water Substances 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005507 spraying Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 24
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 description 23
- 229910052748 manganese Inorganic materials 0.000 description 23
- 239000011572 manganese Substances 0.000 description 23
- 238000002018 water-jet injection Methods 0.000 description 9
- 238000009792 diffusion process Methods 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- RHZUVFJBSILHOK-UHFFFAOYSA-N anthracen-1-ylmethanolate Chemical compound C1=CC=C2C=C3C(C[O-])=CC=CC3=CC2=C1 RHZUVFJBSILHOK-UHFFFAOYSA-N 0.000 description 2
- 239000003830 anthracite Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000013049 sediment Substances 0.000 description 2
- 241000251730 Chondrichthyes Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000006424 Flood reaction Methods 0.000 description 1
- 235000002595 Solanum tuberosum Nutrition 0.000 description 1
- 244000061456 Solanum tuberosum Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- WPBNNNQJVZRUHP-UHFFFAOYSA-L manganese(2+);methyl n-[[2-(methoxycarbonylcarbamothioylamino)phenyl]carbamothioyl]carbamate;n-[2-(sulfidocarbothioylamino)ethyl]carbamodithioate Chemical compound [Mn+2].[S-]C(=S)NCCNC([S-])=S.COC(=O)NC(=S)NC1=CC=CC=C1NC(=S)NC(=O)OC WPBNNNQJVZRUHP-UHFFFAOYSA-L 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- -1 seabed hydrothermal Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C50/00—Obtaining minerals from underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8858—Submerged units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Robotics (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
Description
The present invention relates to a light collecting robot for collecting minerals in a deep sea bed, and more particularly, to a collecting robot for collecting minerals in a deep seabed so as to protect the collecting unit by controlling the height of the collecting unit in accordance with the inclination and altitude of the deep- And more particularly, to a device for controlling a collecting device of a deep sea anthracite mineral concentrating robot and a method thereof.
Deep seabed mineral resources are largely submarine hydrothermal, manganese nodule, manganese, and are entering the market for full-scale production worldwide.
The manganese nodule is a multicomponent nodule containing copper, cobalt, nickel, and manganese. The manganese nodule has the largest content of manganese and has a lumpy shape like a potato, and is called a 'manganese nodule'. It is usually 40 to 60 mm in diameter, and is usually concentric to the nucleus of sharks, manganese nodules, and stones.
Such manganese nodules are industrially valuable and are being studied at the OMI (Ocean Management Incorporated) in the late 1970s, and various methods have been proposed for mining systems.
Korean Patent Laid-open Publication No. 10-2011-0045135 (published on May 04, 2011) discloses a portable terminal which is remotely controlled from a mining bus to a control unit and is moved by a traveling device of an endless track, A mining roller installed on a front surface of the main body and being moved forward and backward by a cylinder arm to mining and first crushing the minerals; and a mining roller for collecting minerals mined by the mining rollers, A transfer path formed in the main body for transferring the minerals collected from the minus receipt and the collection of minerals provided on an end side of the transfer path is made by a suction operation And a hydraulic suction pump to help the hydrothermal ventilation of the submerged minerals.
Korean Patent No. 10-1348112 (published on Dec. 30, 2013) discloses a technique for transferring a manganese nodule to a float using a Coanda effect in order to easily collect manganese nodules, And Korean Patent Registration No. 10-1391634 (published on May 12, 2014) discloses a deep sea bottom mineral nodule collecting robot using the Coanda effect.
However, the light collecting robots disclosed in the above-mentioned prior art documents can not only generate a proper Coanda effect during the movement of the light collecting robot but also prevent the collision with the submarine surface feature, There is a problem in that it does not have a configuration to control according to the terrain.
SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the conventional art as described above, and it is an object of the present invention to provide a method for collecting minerals distributed on deep- By controlling the inclination and elevation variable control according to the topography of the ocean floor, the collection unit which induces the effect and facilitates the transfer of the mineral to the duct is easy to collect the mineral using the Coanda effect without affecting the feature. The present invention also provides a device for controlling a collecting unit of a deep sea anthracite mineral concentrating robot and a method thereof, which prevent breakage of the collecting unit by the feature material.
In order to accomplish the above object, the apparatus for controlling a collecting apparatus of a deep sea mineral concentrating robot of the present invention comprises a plurality of traveling apparatuses and a front surface of the traveling apparatus for spraying seawater and collecting seabed mineral by the coanda effect And a power measuring control unit for controlling the position of the collecting unit using the collecting unit including at least one collecting device unit and the attitude control cylinder, wherein the collecting robot is mounted on the front of the collecting unit, A sound wave detector for receiving the reflected sound wave and outputting the transmitted and received sound wave information and time information; A terrain computing unit for analyzing the transmission / reception sound wave information and the time information of the sound wave detecting unit to acquire the submarine topography information located on the entire running surface of the light focusing robot; And a controller for calculating an attitude control cylinder driving signal for causing the collecting device to generate an optimal Coanda effect or a position that does not collide with the submarine obstacle, And an attitude control cylinder driving operation unit for driving the attitude control cylinder.
The apparatus for controlling the collecting unit of the deep sea mineral-concentrating robot includes a tilt detector for detecting a tilt of the light-collecting robot and a relative tilt of the collecting unit with respect to the collecting robot; A slope calculating unit for calculating and outputting an optimal slope of the collecting unit for the light collecting robot for each specific location of the seabed topography using the topographic information; And a movement time calculation unit for calculating and outputting a movement time of the light collecting robot for each specific position of the seabed topography using the topographic information, wherein the posture control cylinder driving calculation unit is further configured to calculate, The posture control cylinder driving signal may be calculated using the optimal inclination information of the collecting device for the robot and the moving time information for each position and output to the power control measuring part.
At least one sound wave detecting unit may be provided on the front surface of the collecting device.
The posture control cylinder driving signal may include a collecting device unit integrated control signal for controlling the collecting device unit as one unit, a collecting device unit group control signal for collecting and controlling collecting device units constituting the collecting device unit, And a collecting device unit independent control signal to be controlled.
In order to accomplish the above object, the present invention provides a method for controlling a collecting device of a deep sea mineral concentrating robot including a plurality of traveling devices and a plurality of collecting device units, A control method of a collecting apparatus of a light collecting robot including a collecting apparatus unit, a power control measuring unit, and a sound wave signal detecting unit for controlling the collecting apparatus, the method comprising the steps of: A sound wave signal detection process of receiving a sound wave signal reflected from the sound wave signal and outputting the sound wave and the time information; A terrain computing process of obtaining the undersea topography information using the transmission / reception sound waves and the time information; And a controller for calculating an attitude control cylinder driving signal for causing the collecting device to generate an optimal Coanda effect or a position that does not collide with the submarine obstacle, And a collecting device unit control step of controlling the collecting device.
A tilt detecting step of detecting a tilt of the light collecting robot and a relative tilt of the collecting unit with respect to the light collecting robot; A slope calculating step of calculating and outputting an optimum slope of the collecting unit for the light collecting robot for each specific location of the seabed topography using the topographic information; And a movement time calculation step of calculating and outputting a movement time of the light collecting robot according to a specific position of the sea floor topography using the topography information, and in the collecting device control step, in addition to the topography information, By using the optimum inclination information and moving time information of the collecting unit for the star light collecting robot, it is possible to set the position where the collecting device unit generates the optimal Coanda effect for each position of the submarine topography, or the position which does not collide with the submarine obstacle And calculating and outputting the posture control cylinder driving signal.
The posture control cylinder drive signal may include a collecting device unit integrated control signal for controlling the collecting device unit as one unit, collecting device unit group control signals for grouping and controlling collecting device units constituting collecting device units, collecting device units constituting the collecting device unit, And a collecting device unit control process of controlling the collecting device unit in accordance with the collecting device unit integrated control signal. A collecting device unit group control process of grouping adjoining collecting device units into one group and performing position control for each collecting device unit group according to collecting device unit group control signals provided for each group; Or a collecting device unit independent control process for independently controlling collecting device units constituting a collecting device unit according to the collecting device unit independent control signal; And a control step of controlling the operation of the control unit.
In order to easily collect the minerals distributed on the surface of the deep sea floor, the present invention having the above-described structure is characterized in that a collecting unit for feeding the mineral with the duct is easily moved by giving a curvature to the lower surface and spraying water jet, The inclination and the variable control of the elevation according to the terrain of the surface are performed to efficiently collect minerals using the Coanda effect without affecting the feature, thereby providing an effect of remarkably improving the efficiency of collecting the deep sea mineral.
In addition, the present invention provides the effect of preventing damage of the light collecting robot by the unhanging feature by preventing the collecting device from colliding with the undersea feature.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a configuration of a deep sea mineral condensing robot including a functional block diagram of a collection unit controller according to an embodiment of the present invention; FIG.
2 is a plan view showing the structure of a collecting device according to an embodiment of the present invention;
3 is a cross-sectional view taken along line AA of Fig.
Fig. 4 is a perspective view of Fig. 2; Fig.
FIG. 5 is a perspective view of FIG. 2 as viewed from below; FIG.
6 is an enlarged cross-sectional view showing in detail the lower end of the collecting device according to the embodiment of the present invention.
7 is a plan view showing in detail the lower part of the collecting device according to the embodiment of the present invention.
8 is a sectional view taken along the line AA of Fig.
Figs. 9 and 10 are perspective views of Fig. 8; Fig.
11 is an enlarged view of an enlarged view of a water jet spray nozzle in accordance with an embodiment of the present invention.
12 is an exemplary view showing a structure of a flow plate according to an embodiment of the present invention;
FIG. 13 is a graph illustrating an experimental example for designing the injection nozzle and the flow plate according to the embodiment of the present invention. FIG.
14 is a photograph showing a rake according to an embodiment of the present invention.
15 is a flowchart of a method of controlling a collecting unit of a deep sea mineral concentrating robot of the present invention.
FIG. 16 is a flow chart showing a detailed processing procedure of a collection unit control process (S60) among the collection unit control methods of the deep sea mineral condensing robot. FIG.
Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings showing embodiments of the present invention.
In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.
The embodiments according to the concept of the present invention can be variously modified and can take various forms, so that specific embodiments are illustrated in the drawings and described in detail in the specification or the application. It is to be understood, however, that the intention is not to limit the embodiments according to the concepts of the invention to the specific forms of disclosure, and that the invention includes all modifications, equivalents and alternatives falling within the spirit and scope of the invention.
It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises ", or" having ", or the like, specify that there is a stated feature, number, step, operation, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.
FIG. 1 is a perspective view showing a configuration of a deep sea mineral condensing robot including a functional block diagram of a collecting unit control unit according to an embodiment of the present invention.
Referring to FIG. 1, a deep sea
Hereinafter, a deep-sea-bottom
First, the
The
The
The power
The
A
The collection
As shown in FIG. 1, the collecting
The sound wave
The
The
The slope
The travel
The posture control cylinder drive
The
In addition, the collecting
FIG. 2 is a plan view showing the structure of the collecting
2 to 5, a
2 to 5, a
First, a
The
FIG. 6 is an enlarged cross-sectional view showing in detail the lower end of the
6 to 11, in order to cause the coanda effect in the
12 is an exemplary view showing the structure of the
As shown in FIG. 12, the
First, the
Then, the water
12, when the manganese nodule B is assumed to be a sphere having a diameter of 60 mm, the distance d between the sea bed and the
That is, assuming that the distance between the sea floor and the
FIG. 13 is an exemplary graph for designing the
That is, FIG. 13 is a graph illustrating the following equations (1) and (2) through an experimental example.
[Equation 1]
&Quot; (2) "
13, b means the half jet width of the water jet.
With this design, the sea water discharged from the water
Particularly, according to the embodiment of the present invention, the vertical width h of the discharge port (a) of the water
In this manner, the vertical width h of the discharge port of the water
That is, the upper and lower widths h of the discharge ports a of the respective
In the embodiment of the present invention, the vertical width (h) of the discharge port (a) of the water
It is preferable that the
The effective location of the manganese nodule B above the manganese nodule B can be expected to be near the half jet width.
On the other hand, the unloaded manganese nodule B flows into the interior of the conveying
14 is a photograph showing a
Referring to FIG. 14, the
The seawater injected from the water
15 is a flowchart of a method for controlling a collecting unit of the deep sea mineral concentrating robot of the present invention.
As shown in FIG. 15, the method of controlling a collecting device of a deep sea mineral concentrating robot of the present invention includes a sound signal detecting step S10, a tilt detecting step S20, a terrain calculating step S30, ), A movement time calculation process (S50), and a collecting device control process (S60).
The sound wave signal detection process S10 transmits a sound wave to the bottom of the sea through the sound wave
The inclination detecting process S20 may be performed independently of the sound wave signal detecting process S10 and may be performed periodically or at every time when inclination detection is required and the inclination of the
The terrain computing step S30 computes the time difference between the transmission of the sound wave and the reception of the sound wave signal from the sound wave signal reflected from the sea floor surface outputted from the sound wave
The inclination calculation process S40 may include a step of calculating a tilt of the condensing
The moving time calculation process S50 is a process of calculating the moving time S30 from the position of the
The control unit S60 may control the operation of the
At this time, the control cylinder drive control signal includes a collecting device unit integrated control signal for controlling the
Therefore, in the body collection device control process S60, a collecting device unit integration control process S61 for controlling the
The control by the collecting device unit integrated control signal among the control cylinder driving control signals described above controls all the collecting device units 120a to 120d in the same manner. The control by the collecting device unit group control signal is performed by grouping the first and second collecting device units 120a and 120b of the collecting device units 120a to 120d into one group and controlling the third and fourth collecting device units 120c And 120d are grouped into another group so that the collecting unit units are grouped by collecting unit group according to the topography of the entire surface of the group of collecting unit units.
The control by the collecting device unit independent control signal causes the collecting device units to be individually controlled according to the front surface shape of the individual collecting device units. That is, the efficiency of control for improving the collecting efficiency of the
100: light collecting robot 110: traveling unit
120: Collecting device part 130: Feeder part
140: Power control measuring unit 150: Structure frame
160: buoyancy part 121: water pump
122: water jet piping 123: conveying duct
124: injection nozzle 125:
126: attitude control device 127: rake
128: seat frame 170: collecting unit control unit
Claims (8)
A sound wave detecting unit mounted on a front surface of the collecting unit to receive a reflected sound wave after transmitting a sound wave to the undersurface and output sound wave information and time information;
A terrain computing unit for analyzing the transmission / reception sound wave information and the time information of the sound wave detecting unit to acquire the submarine topography information located on the entire running surface of the light focusing robot; And
The control unit calculates a posture control cylinder driving signal for causing the collecting device unit to generate an optimal Coanda effect or a position that does not collide with the seabed obstacle by using the topography information, and outputs the posture control cylinder driving signal to the power control measuring unit And an attitude control cylinder driving arithmetic operation unit.
A tilt detector for detecting a tilt of the light collecting robot and a relative tilt of the light collecting robot relative to the light collecting robot;
A slope calculating unit for calculating and outputting an optimal slope of the collecting unit for the light collecting robot for each specific location of the seabed topography using the topographic information; And
And a movement time calculation unit for calculating and outputting a movement time of the light collecting robot for each specific position of the sea floor topography using the topographic information,
The posture control cylinder drive calculation unit calculates the posture control cylinder drive signal by using the optimal inclination information and the movement time information of each position of the collecting unit for the light collecting robot for each position in addition to the topography information and outputs it to the power control measuring unit Wherein the controller is configured to control the collection device of the deep-sea mineral-concentrating robot.
Wherein at least one is installed on the surface of the collecting device.
A collecting device unit integrated control signal for controlling the collecting device unit as one, a collecting device unit group for collecting and controlling collecting device units constituting collecting device unit, collecting device unit for independently controlling collecting device units constituting collecting device unit control signal, Signal of the deep-sea mineral-concentrating robot.
A sound wave signal detection process of transmitting a sound wave from the sound wave signal detection unit and receiving the sound wave signal reflected from the sea floor, and outputting the sound wave and the time information;
A terrain computing process of obtaining the undersea topography information using the transmission / reception sound waves and the time information; And
The control unit calculates a posture control cylinder driving signal for causing the collecting device unit to generate an optimal Coanda effect or a position that does not collide with the seabed obstacle by using the topography information, and outputs the posture control cylinder driving signal to the power control measuring unit And a control unit for controlling the collecting unit of the deep-sea mineral-concentrating robot.
A tilt detecting step of detecting a tilt of the light collecting robot and a relative tilt of the collecting unit with respect to the light collecting robot;
A slope calculating step of calculating and outputting an optimum slope of the collecting unit for the light collecting robot for each specific location of the seabed topography using the topographic information; And
And a movement time calculation step of calculating and outputting a movement time of the light collecting robot for each specific position of the sea floor topography using the topographic information,
In addition to the terrain information, the control unit may control the collecting unit to acquire optimal optimal tilt information for each position of the submarine topography using the optimal tilt information and the moving time information of each of the collecting apparatuses, And calculating and outputting a posture control cylinder drive signal for causing the posture control cylinder drive signal to have a position at which the effect occurs or a position at which the posture control does not collide with the submarine obstacle.
A collecting device unit integrated control signal for controlling the collecting device unit as one, a collecting device unit group for collecting and controlling collecting device units constituting collecting device unit, collecting device unit for independently controlling collecting device units constituting collecting device unit control signal, Wherein the at least one of the at least one signal and the at least one signal is at least one of a signal and a signal.
A collecting unit integrated control process of controlling the collecting unit in accordance with the collecting unit integrated control signal;
A collecting device unit group control process of grouping adjoining collecting device units into one group and performing position control for each collecting device unit group according to collecting device unit group control signals provided for each group; or
A collecting device unit independent control process for independently controlling collecting device units constituting a collecting device unit according to the collecting device unit independent control signal; And a control unit for controlling at least one of the control unit and the control unit.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111206636A (en) * | 2020-03-12 | 2020-05-29 | 广东新拓计算机科技有限公司 | River channel dredging robot and unmanned ship |
| CN113187483A (en) * | 2021-06-30 | 2021-07-30 | 金奥深海装备技术(深圳)有限责任公司 | Underwater mining vehicle |
| CN117684985A (en) * | 2024-02-02 | 2024-03-12 | 长沙矿冶研究院有限责任公司 | Deep sea mining vehicle ore storage bin and metering method |
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| KR101391634B1 (en) | 2013-10-16 | 2014-05-12 | 한국해양과학기술원 | Deep sea manganese collecting robot for collecting deep-seabed manganese nodules using coanda effect |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101119400B1 (en) * | 2011-07-12 | 2012-03-16 | 김진호 | Survey system and method for ocean topography, and active sonar apparatus |
| KR101263804B1 (en) * | 2012-03-28 | 2013-05-13 | 한국해양과학기술원 | Robot for mining manganese nodules on deep-seabed |
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| KR20110045135A (en) | 2009-10-26 | 2011-05-04 | 삼성중공업 주식회사 | Mining robot for deep sea mineral |
| KR101348112B1 (en) | 2013-10-16 | 2014-01-09 | 한국해양과학기술원 | Gathering part structure of collecting robot for collecting deep-seabed manganese nodules using coanda effect |
| KR101391634B1 (en) | 2013-10-16 | 2014-05-12 | 한국해양과학기술원 | Deep sea manganese collecting robot for collecting deep-seabed manganese nodules using coanda effect |
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