Track control system and method of deep-sea mining vehicle and deep-sea mining vehicle

Abstract

The invention discloses a track control system and method of a deep-sea mining vehicle and the deep-sea mining vehicle. The track control system comprises a track monitoring module, a track planning module and a motion control module. The track monitoring module is used for collecting comprehensive position data and motion state data of the mining vehicle. The track planning module is used for calculating the movement direction required by the mining vehicle according to the mining vehicle movement rule given by an operator and the comprehensive position data. The motion control module is usedfor judging whether the mining vehicle actually runs normally or not according to the vehicle state monitoring sensor data and the motion state data, controlling an executing mechanism of the miningvehicle to act according to the required motion direction if the mining vehicle actually runs normally, and controlling the executing mechanism of the mining vehicle to decelerate or stop the mining vehicle if the mining vehicle does not run normally. According to the track control system and method and the deep sea mining vehicle, accurate positioning can be achieved in a large-noise and strong-interference seabed environment, the mining vehicle can walk according to a set route, and movement can be stopped when the mining vehicle runs abnormally.

Description

technical field [0001] The invention relates to the technical field of trajectory control of underwater mobile equipment, in particular, to a trajectory control system and method of a deep-sea mining vehicle and the deep-sea mining vehicle. Background technique [0002] With the continuous depletion of land mineral resources, more and more countries have turned their attention to the mining of deep-sea polymetallic nodules. The mining of polymetallic nodules is mostly carried out by deep-sea mining vehicles, which are mostly distributed on the seabed at a depth of 4,000 to 6,000 meters. The seabed terrain is complex and changeable, and the working conditions are harsh. A working vehicle with double crawlers. [0003] The deep seabed environment is complex, and mining vehicles will inevitably have problems such as crawler slippage, deviation from the walking route, and walking failures during driving, which will bring great difficulties to deep sea mining. Once the mining ve...

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Problems solved by technology

[0003] The deep-sea submarine environment is complex, and mining vehicles will inevitably have problems such as crawler slippage, deviation from the walking route, and walking failures during driving, which will bring great difficulties to deep-sea mining. Once the mining vehicle runs on the wrong route and position for a long time, it will be greatly It reduces its mining efficiency and affects the safety and stability of the mining vehicle. At present, the research on the trajectory control system directly used for deep-sea mining vehicles is still blank, and no patents have been published.

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