WO2014026670A1 - Système et procédé d'extraction de solides au fond de l'océan - Google Patents

Système et procédé d'extraction de solides au fond de l'océan Download PDF

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Publication number
WO2014026670A1
WO2014026670A1 PCT/DE2013/100241 DE2013100241W WO2014026670A1 WO 2014026670 A1 WO2014026670 A1 WO 2014026670A1 DE 2013100241 W DE2013100241 W DE 2013100241W WO 2014026670 A1 WO2014026670 A1 WO 2014026670A1
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WO
WIPO (PCT)
Prior art keywords
mining
data
vehicle
seabed
plant
Prior art date
Application number
PCT/DE2013/100241
Other languages
German (de)
English (en)
Inventor
Sven-Christian Hesse
Jörg Kalwa
Original Assignee
Atlas Elektronik Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atlas Elektronik Gmbh filed Critical Atlas Elektronik Gmbh
Priority to CA2881719A priority Critical patent/CA2881719A1/fr
Priority to DE112013004064.6T priority patent/DE112013004064A5/de
Priority to AU2013304425A priority patent/AU2013304425B2/en
Priority to EP13748262.6A priority patent/EP2885466A1/fr
Priority to US14/421,487 priority patent/US20150211368A1/en
Publication of WO2014026670A1 publication Critical patent/WO2014026670A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C50/00—Obtaining minerals from underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/006—Dredgers or soil-shifting machines for special purposes adapted for working ground under water not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the invention relates to a device for maritime degradation of solids, in particular minerals or metal-containing rocks, such as manganese nodules or manganese crusts, on the seabed according to the preamble of claim 1 and a corresponding method for mining of solids on the seabed according to the preamble of claim 11.
  • manganese nodules are usually located in the deep sea, i. in water depths of 3,000 to 6,000 m.
  • Manganese crusts are predominantly found on undersea ridges and mountains in water depths between 800 and 2,400 m.
  • DE 28 47 325 A1 shows a device with the solids are absorbed by a suction device and pumped with a large amount of seawater upwards. Due to the large amounts of seawater and sediments, which are pumped together with the solids to be conveyed on a delivery ship, such a mining process is uneconomical.
  • DE 29 50 922 A1 shows a further method and a device for manganese nodule removal on the seabed.
  • the overall system is subdivided into an overwater subsystem and an underwater subsystem.
  • the underwater subsystem has a mobile, controllable vehicle for picking up, washing and crushing manganese nodules.
  • the underwater subsystem has a buffer for temporarily storing the collected, crushed and sediment-solubilized manganese nodules, which are transported from here to the water surface.
  • the upper water subsystem has a ship that receives the manganese nodules and from where the operational control and maintenance of the submarine subsystem takes place.
  • the underwater subsystem has cameras with which an operator on the surface ship can detect the environment and control the mining vehicle accordingly.
  • the disadvantage here however, that agitated sand or mud obstruct the view considerably and a large-scale monitoring of the mining area by means of the cameras carried on the mining vehicle is not possible.
  • the invention addresses the problem of improving the apparatus and method for decomposing solids so that the degradation of solids at the seabed is more efficient.
  • the invention solves this problem by the features of a device for the degradation of solids at the seabed according to claim 1 and a corresponding method for the removal of solids with the features of claim 11.
  • the device according to the invention has a surface installation, in particular a surface ship or a surface platform, on the water surface.
  • the device according to the invention has a mobile mining plant, in particular a suction system, a sweeper or a drilling and excavating system, on the seabed, which has means for decomposing solids, in particular manganese nodules or manganese crusts.
  • solids are meant any solids which can be extracted as raw materials on the seabed. These include, in addition to minerals, inclusion compounds, so-called gas hydrates, which are degradable in the solid state and can be used as an energy source.
  • the degradation of such solids takes place within a predetermined mining area on the seabed. The degradation is not limited to only on the seabed solids but also on solids that lie below the seabed, for example, in deeper rock formations.
  • the surface installation and the mining system are connected to each other via fastening devices, data lines and / or conveyor lines, whereby a permanent tracking of the surface system is necessary.
  • the mining plant preferably means for washing and / or crushing of the solids, so that as little unwanted parts of the seabed, such as mud, sand or the like, through the delivery lines from the mining plant to the Surface system to be transported.
  • the device according to the invention also has a separate reconnaissance vehicle which has means for controlling the mining plant and / or means for monitoring the mining area and / or the mining operation.
  • taxes is meant the directional influence of the movement of the mining plant.
  • the device thus has the advantage that a control of the mining process over the entire mining area is possible by such a reconnaissance vehicle, which advantageously allows at any time a corrective intervention in the mining process.
  • Direct control of the mining plant advantageously makes it possible to manage the entire mining process, which makes it possible to carry out the degradation of solids in a particularly efficient manner.
  • the reconnaissance vehicle is an unmanned underwater vehicle, which is controllable by means of a control device according to specifiable control information and is optionally operable in an autonomous mode or a remote controlled mode by the design of the reconnaissance vehicle as an unmanned underwater vehicle advantageous access to marine regions allows not directly accessible to humans, such as deep-sea regions.
  • the unmanned underwater vehicle can be controlled either in an autonomous operating mode or in a remote-controlled operating mode, both underwater tasks with large-scale reconnaissance requirements and also punctual examinations can be carried out by a single unmanned underwater vehicle.
  • the autonomous mode of operation advantageously allows the control of the mining plant and an autonomous removal of solids to the seabed.
  • the reconnaissance vehicle has means, in particular at least one sonar installation, for ascertaining surface data of the seabed.
  • This can be, for example, a side view sonar or a fan slot system, possibly supported by a video system.
  • a detailed relief and soil map of the seabed and / or a three-dimensional model of the environment which is required for the degradation of massive sulphides or manganese crusts.
  • the detection of the surface data of the seabed within a mining area from the surface plant from the water surface is carried out before the commencement of mining.
  • the detection of the surface data from a separate reconnaissance vehicle has the advantage that such an investigation is also possible during the dismantling.
  • the surface data contained in the area of the deep sea when recording from the water surface to a low resolution.
  • An exploration vehicle as an unmanned underwater vehicle advantageously allows a higher-quality detection of surface data, since such a reconnaissance vehicle can move at low altitude on the seabed.
  • a further preferred embodiment of the invention also has means for classifying the seabed based on the collected surface data.
  • means for exploration for example, means such as image analysis or evaluation of specific reverberation of the echo sounder systems are suitable.
  • the use of special neuroprocessors for exploration is also conceivable. Based on the classification, it can be advantageously determined whether mining in the investigated area is economically worthwhile. Since a reduction of solids is regarded as economically viable only from a certain mass per m 2 , it is advantageous to first determine the amount of degradable solids on the seabed.
  • a further preferred embodiment of the invention also has means for determining position data and / or data of a route of the mining plant on the basis of the collected surface data.
  • the mining facility and the reconnaissance vehicle each have a docking device which is designed to allow underwater coupling and uncoupling of the reconnaissance vehicle at the mining facility.
  • the arrival or decoupling of the reconnaissance vehicle is done automatically and is also possible during an ongoing mining operation.
  • Such a docking device advantageously allows direct control or guidance of the mining plant by the reconnaissance vehicle.
  • the docking device has means for exchanging data and / or controlling the mining plant.
  • the docking device preferably has a separable data transmission interface in order to establish a signal connection between the reconnaissance vehicle and the mining plant.
  • Such a docking device which allows the exchange of data between the reconnaissance vehicle and the mining plant, advantageously forms an autonomously operating system which performs the degradation of solids on the seabed independently of a surface ship or a surface platform on the water surface.
  • the docking device has means for receiving energy.
  • the reconnaissance vehicle is powered by the docking device of the mining plant with energy or recharged, which advantageously increases the range of the reconnaissance vehicle under water.
  • the energy transfer via such a power transmission interface of the docking device is carried out, for example, galvanically, ie via one or more galvanic contacts.
  • the energy transfer can also be made contactless, in particular by induction.
  • the energy transfer interface has inductively operating energy transfer means.
  • a further preferred embodiment of the invention provides that the mining facility and / or the exploration vehicle have a navigation system for generating navigation data.
  • the mining plant Ober has its own navigation system, it can advantageously automatically transfer its location position to the surface installation at predetermined time intervals so that it can follow the cultivation plant.
  • the reconnaissance vehicle has its own navigation system, this can advantageously act autonomously.
  • the navigation data can be collected, for example, using special terrain mapping methods for representing terrain contours, by comparing the surface data of the seabed determined by the reconnaissance vehicle with an entrained map for orientation purposes.
  • the navigation data may also be collected through the use of beacons placed at predetermined positions.
  • the beacons also called beacons, are dropped off to mark a specific area.
  • the device according to the invention comprises means for synchronizing the navigation data of the mining plant with the navigation data of the reconnaissance vehicle, in the event that both the mining plant and the reconnaissance vehicle have their own navigation system. Synchronization advantageously allows accurate cooperation of the individual components of the device according to the invention for the reduction of solids on the seabed, namely the reconnaissance vehicle, the mining plant and the surface installation.
  • the mining plant has its own drive. It thus provides an advantageous on the Seabed mobile vehicle or one. is about the seabed floating vehicle and is able to move according to specifiable or determined position data and / or data of a route accordingly.
  • the invention solves the o. G. A further problem with a method for the removal of solids at the seabed by means of a surface treatment on the water surface and a mining plant on the seabed.
  • the inventive method also has an exploration vehicle, which controls the mining plant and / or monitors the mining area. Conducting exploration and degradation of the solids within a system ensures that the process of the present invention is particularly effective. Furthermore, the monitoring of the mining area or the mining process preferably allows a timely intervention to correct the degradation process.
  • the method according to the invention for monitoring the mining area comprises a first sensor on the reconnaissance vehicle, which metrologically detects the unprocessed mining area and a second sensor on the reconnaissance vehicle, which metrologically detects the already processed mining area.
  • a direct comparison of the surface data collected by the two sensors advantageously provides information as to whether the mining plant has repeatedly processed or omitted an area at the bottom of the sea, and advantageously enables efficient mining, since a corrective influence on the mining plant can be taken immediately, in particular by a correction the route.
  • a new exploration of a subsequent mining area for determining new position data and / or new route data for the mining plant during an ongoing mining operation by means of the reconnaissance vehicle is performed.
  • This has the advantage that without loss of time the mining can be set directly from a mining area in a next mining area and a forward-looking planning of the mining process is made possible.
  • the surface system is indirectly guided by the reconnaissance vehicle by the mining plant is led by the reconnaissance vehicle and current position data of the mining plant are transmitted to the surface facility.
  • Fig. 1 is a schematic representation of a device for the degradation of
  • Fig. 2 is a schematic representation of a device for the degradation of
  • FIG. 3 shows a reconnaissance vehicle according to an embodiment of the invention
  • Fig. 4 is a schematic representation for explaining the method according to the invention.
  • the devices shown in FIG. 1 and FIG. 2 for the reduction of solids, in particular minerals or metal-containing rocks, within a mining area each have a surface installation 2 on the water surface 4 and a mining installation 6 on the seabed 8.
  • the surface system 2 and the mining plant 6 are connected to each other via a pipe string 10.
  • the tubing string 10 has a conveyor system, in particular an air lifting system or pump system, for transporting the mined solids through the water column as well as special cables for power supply, data transmission and remote control.
  • the mining plant 6 represents a collector system for mining manganese nodules 12.
  • the mining plant 6 is a tracked vehicle with its own drive, which has flexible delivery hoses 14 for connection to the pipe string 10. But also floating mining facilities 6, which tap the manganese nodules 12 without touching the seabed 8 or collect are conceivable.
  • the mining plant 6 according to FIG. 2 shows, by way of example, the dismantling of massive sulfides or manganese crusts 16 by means of a detachment system, in particular a drilling and suction dredger system. It is also conceivable to use a cutter with a milling head on the head of a suction line.
  • the mining plant according to the invention is a system which controls both mining mines according to FIG. 1 and FIG. 2 and can collect both manganese nodules 12 and also can liberate massive ores 16 from the seabed 8. It has its own drive system and possibly its own navigation system, which is advantageously able to determine the current position of the mining plant 6 in order to transfer it to the surface installation 2 so that it can follow the mining installation 6.
  • the reconnaissance vehicle 20 is an unmanned underwater vehicle.
  • the reconnaissance vehicle 20 has a high-resolution camera 22 and its own light sources 24.
  • the reconnaissance vehicle 20 has a Voraussonar 26 for the location of obstacles, one issichtsonar 28 on both sides of the reconnaissance vehicle 20 and possibly a fan slot, which in FIG. 3 is indicated by indicated, fan-shaped solder blasting 34.
  • a separate drive system 36 with a controller allows maneuvering under water. So that the reconnaissance vehicle 20 can also act autonomously, the reconnaissance vehicle 20 has its own navigation system.
  • the exploration vehicle 20 according to the invention and the mining installation 6 according to the invention each have a docking device 38 for coupling the exploration vehicle 20 to the mining facility 6.
  • the docking device 38 is either attached to the reconnaissance vehicle 20 or to the mining plant 6 or part of the reconnaissance vehicle 20 or part of the mining plant 6.
  • the coupling is used primarily for data exchange and power supply.
  • docking device 38 has a data transmission interface and an energy transmission interface.
  • the power transmission interface automatically establishes an electrical connection between the docking device 38 on the reconnaissance vehicle 20 and the docking device on the mining facility 6 when coupled together.
  • the reconnaissance vehicle 20 can thus be supplied via the docking device 38 of the mining plant 6 with electrical energy, for example, to recharge the batteries of the reconnaissance vehicle 20.
  • the mining plant 6 is electrically connected via the special cable in the tubing string 10 with the surface system 2.
  • the communication interface establishes a signal connection between the reconnaissance vehicle 20 and the mining facility 6 when coupled together.
  • the mining plant 6 can be directly supplied with exploration data and, consequently, data on route changes.
  • the mining plant 6 can be controlled by the docking device 38 of the reconnaissance vehicle 20.
  • the invention is not limited to data transfer via a data transfer interface of the docking device 38. Rather, any transmission techniques are suitable for data transmission between the reconnaissance vehicle 20 and the mining plant 6, which are suitable for underwater operation.
  • the docking device 38 of the reconnaissance vehicle 20 illustrated in FIG. 3 forms the active part of a coupling system.
  • the mining plant 6 provides the associated passive part of the coupling system, so that the coupling or decoupling act much like plug and socket.
  • the coupling takes place automatically, preferably purely mechanically, for example by means of a snap closure.
  • the uncoupling takes place by means of a release mechanism, in that the locking device for coupling, for example, is released electromagnetically or electromotively in response to control commands or electrical signals.
  • the invention is not limited to the embodiment of the docking device 38 shown in FIG.
  • any designs are conceivable which make it possible to connect or uncouple the exploration vehicle 20 to the mining installation 6 underwater, in particular in the deep sea.
  • the reconnaissance vehicle 20 has corresponding means for this purpose, for example means for detecting the backscatter characteristics of the echosounding system, for frequent, often considerable fluctuations in the occupancy density of the manganese nodules to record and identify corresponding zones in the mining area, where mining seems less rewarding.
  • the measurement of the crust thickness for the effective determination of the degradable amount is carried out for example by means of gamma rays or ultrasound.
  • the device according to the invention has means for determining position data and / or data of a route of travel of the mining installation 6. Such a device is used for planning the mining operation. On the basis of the determined surface data as well as the data of the classification position data can be determined which characterize the starting position of the mining plant 6.
  • Fig. 4 shows a block diagram for explaining the method according to the invention for the removal of solids on the seabed [Exploration 40 by means of the sensors carried on the reconnaissance vehicle 20, in particular sosichtsonar 28 and / or fan slot 29, and possibly existing camera 22.
  • a classification for example by image analysis or by measuring the backscatter of Echosound signals for detecting the ore and metal content and thus for the detection of abbau Regenen zones on the seabed 8.
  • a classification of the area to be examined is also conceivable by using neuroprocessors for the realization of artificial neural networks.
  • Exploration 40 also advantageously serves to map topography and surface texture, as well as to provide information about tuber population density or manganese scale density.
  • fan slot signals are preferably processed together with video signals to form a corresponding 3D model.
  • exploration data 42 includes population density, tuber size, metal hardship, soil relief and soil texture, water depth, and the like.
  • such a module 44 is preferably for planning within the reconnaissance vehicle 20. However, it is nevertheless possible to transfer the exploration data 42 to the mining facility 6 or the surface facility 2 if they have a corresponding module 44 for planning the mining operation.
  • the exact position data 46 for the mining plant 6 are then determined and determined according to the exploration data 42 a route 48 for the mining plant 6.
  • a next process step for the removal of solids includes a control 50 or control 50 of the mining plant 6.
  • the lead 50 of the mining plant 6 can be made from the surface ship 2 after it has the exploration data 42 or the position data 46 and the data of the travel route 48 received from the reconnaissance vehicle 20.
  • the guiding 50 of the mining installation 6 takes place directly from the exploration vehicle 20.
  • the control process results in a directed influencing of the movement of the mining plant 6.
  • the position data 46 and the data of the travel route 48 are transferred directly to the mining plant 6 as information necessary for the control process.
  • the data 46, 48 are transmitted wirelessly or via the data transmission interface of the docking device 38.
  • the mining plant 6 Due to its own drive and its own navigation system, the mining plant 6 is advantageously able to assume its position on the seabed 8 in accordance with the position data 46 and to carry out the mining operation along the determined travel route 48. For correct implementation, however, a synchronization of the navigation system of the mining plant 6 with the navigation system of the reconnaissance vehicle 20 is necessary.
  • the guiding 50 of the mining installation 6 is effected via the docking device 38, it is possible to use the navigation system of the exploration vehicle 20 from the mining installation 6. This has the advantage that no synchronization of the navigation systems is necessary.
  • the mining plant 6 is guided directly by the exploration vehicle 20, the current location position data of the mining plant 6 are transferred via the existing data lines in the pipe string 10 to the surface plant 2, so that they can follow the mining plant 6 according to the predetermined route 48.
  • the mining installation 6 it is advantageous not only the mining installation 6 to be part of the controlled vehicle 20, but also the surface system 2.
  • the mining operation is carried out completely autonomous.
  • the degradation is checked 52.
  • the check 52 is usually carried out in predetermined recurring time periods. If it is a mobile degradation of the mining plant 6, for example by means of a mining suction or sweeper, the reconnaissance vehicle 20 follows the mining plant 6 to verify the degradation.
  • the checking 52 preferably takes place by means of a first sensor and a second sensor.
  • these may each be one side of a side view sonar 28 on the reconnaissance vehicle 20.
  • the reconnaissance vehicle 20 moves in such a way that the first sensor detects the unprocessed excavation area and the second sensor detects the excavated excavation area.
  • a comparison of the two surface data of the seabed 8 determined using the sensors provides information as to whether the excavation process took place according to plan .
  • route optimization is carried out, which is represented by a branch 54 in the block diagram in FIG. 4.
  • the mining facility 6 receives corrected position 46 and route data 48 in order to optimally continue its dismantling.
  • the entire environment is detected by the reconnaissance vehicle 20 to check 52 of the degradation.
  • the detection takes place by means of sonar data, in particular side view sensor 28, fan slot 29 and video data 22.
  • the video and sonar data are georeferenced and separated into small subunits.
  • the reconnaissance vehicle 20 In addition to the survey 52 of the mining operation, the reconnaissance vehicle 20 also performs new exploration 56 to develop new mining areas in the vicinity. Thus, it is advantageous to find new " worthwhile" sites for further mining during the mining process.
  • the new exploration data 58 are also transferred to the mining operation planning module 44, which determines therefrom corresponding position data 46 and route data 48 for the next mining area.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)

Abstract

L'invention concerne un système d'extraction de solides, en particulier de minéraux ou de roches métallifères, au fond de l'océan (8). Pour cela, le système comporte une installation de surface (2) flottant à la surface de l'eau (4) ainsi qu'une installation d'extraction (6) comprenant des moyens servant à extraire les solides dans une zone d'extraction au fond de l'océan (8). Le système selon l'invention comprend en outre un véhicule de reconnaissance (20) doté de moyens pour piloter l'installation d'extraction (6) ainsi que de moyens pour surveiller la zone d'extraction. L'invention concerne également un procédé correspondant d'extraction de solides au fond de l'océan en utilisant le système selon l'invention.
PCT/DE2013/100241 2012-08-14 2013-07-02 Système et procédé d'extraction de solides au fond de l'océan WO2014026670A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CA2881719A CA2881719A1 (fr) 2012-08-14 2013-07-02 Systeme et procede d'extraction de solides au fond de l'ocean
DE112013004064.6T DE112013004064A5 (de) 2012-08-14 2013-07-02 Einrichtung und Verfahren zum Abbau von Feststoffen am Meeresgrund
AU2013304425A AU2013304425B2 (en) 2012-08-14 2013-07-02 Device and method for mining solid materials from the sea bed
EP13748262.6A EP2885466A1 (fr) 2012-08-14 2013-07-02 Système et procédé d'extraction de solides au fond de l'océan
US14/421,487 US20150211368A1 (en) 2012-08-14 2013-07-02 Device and method for mining solid materials from the sea bed

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012016052.6A DE102012016052A1 (de) 2012-08-14 2012-08-14 Einrichtung und Verfahren zum Abbau von Feststoffen am Meeresgrund
DE102012016052.6 2012-08-14

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WO2014026670A1 true WO2014026670A1 (fr) 2014-02-20

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US (1) US20150211368A1 (fr)
EP (1) EP2885466A1 (fr)
AU (1) AU2013304425B2 (fr)
CA (1) CA2881719A1 (fr)
DE (2) DE102012016052A1 (fr)
WO (1) WO2014026670A1 (fr)

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US10291071B2 (en) * 2016-01-19 2019-05-14 The United States Of America As Represented By The Secretary Of The Navy Wireless power and data transfer for unmanned vehicles
CN106761762A (zh) * 2017-03-07 2017-05-31 长沙矿冶研究院有限责任公司 一种间断式深海矿产资源开采系统及开采方法
CN110012207B (zh) * 2019-06-05 2019-09-10 清华四川能源互联网研究院 拍摄装置及巡检设备
CN112068141B (zh) * 2020-09-11 2021-06-08 中国海洋大学 一种深海多金属结核开采沉积物环境监测装置
CN113338939B (zh) * 2021-05-31 2023-03-24 上海交通大学 一种环境友好型集群悬浮式海底集矿机器人及集矿方法

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AU2013304425A1 (en) 2015-02-26
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