Underwater drone device for deep-sea automated mining and its use method

Abstract

The present invention belongs to the technical field of underwater operation equipment, specifically an underwater drone device for deep-sea automated mining and a method of using the device, comprising a ducting propeller structure, a mineral exploration structure, a positioning and navigation structure, a cutter suction pump structure, and a control module. The ducting propeller structure can form reverse thrust in different directions, the mineral exploration structure has a mineral exploration end, the positioning and navigation structure has a mineral positioning end, and the two ends of the cutter suction pump structure respectively have a pump suction inlet end and a pump suction outlet end. The control module has a control input end connected to the mineral exploration structure and the positioning and navigation structure, and a control output end respectively connected to the ducting propeller structure, the ore-breaking reamer structure, and the cutter suction pump structure. The present invention solves the problems of the prior art in deep-sea mining caused by poor adaptability, low maneuverability, high pollution, and low degree of automation when using mining vehicles for deep-sea mining, resulting in high difficulty, high pollution, and high cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater operation equipment, and in particular relates to an underwater drone device for deep-sea automated mining and a method for using the device. Background Art

[0002] In recent years, deep-sea mineral resource exploration and development has become a hot research topic of particular interest to the mining industry. The current mainstream approach to deep-sea mining relies on the same techniques and processes used for onshore mining: adapting land-based mining vehicles for underwater use, such as submarine crawler ore collectors.

[0003] However, due to the difference between underwater and terrestrial environments, traditional submarine crawler ore collectors have poor adaptability to soft seabed geology, and are prone to defects such as vehicle body sinking, sticking, vehicle body slipping, and poor maneuverability; at the same time, due to its own structural reasons and the submarine geology and topographic environment, the actual walking path of the crawler vehicle body deviates greatly from the set path, which seriously affects the stability of the crawler ore collector's operation process. Moreover, the crawler vehicle body will cause uncontrollable seabed mud plume diffusion and other problems during its walking and operation, resulting in seabed pollution and serious damage to the ecological environment of the seabed; in addition, the mining method based on submarine ore collectors requires the ore collector's lifting ship and the ore transportation and processing ship, which is difficult to maintain and repair as a whole and the mining cost is huge.

[0004] At the same time, existing underwater drone devices are widely used, but they are generally based on underwater cameras, underwater grabbers and underwater data collection. They are mainly used in operations that require underwater exploration, environmental monitoring, underwater rescue and salvage, and are difficult to apply to deep-sea mining production operations.

[0005] Therefore, there is an urgent need to propose a new deep-sea mining solution to solve the problems of deep-sea mining difficulty, serious pollution and high cost. Summary of the Invention

[0006] To this end, the present invention provides an underwater drone device for deep-sea automated mining and a method for using the device to solve the problems of difficulty, pollution and high cost in deep-sea mining using seabed crawler ore collection vehicles in the prior art.

[0007] In order to achieve the purpose of solving the above technical problems, the present invention provides an underwater drone device for deep-sea automated mining, comprising:

[0008] The basic frame structure includes a basic frame body;

[0009] A plurality of groups of ducted propeller structures are fixedly mounted at different positions on the base frame body. Each group of the ducted propeller structures includes a directional jet duct, a ducted propeller hub, and ducted propeller blades. The ducted propeller hub is rotatably connected to the interior of the directional jet duct, and the outer wall of the ducted propeller hub is fixedly mounted with a plurality of the ducted propeller blades. The buoyancy generated by the rotation of the ducted propeller blades cooperates with the directional jet action of the directional jet duct to stabilize the base frame body underwater.

[0010] A mineral exploration structure is fixed to the foundation frame body, and the mineral exploration structure has a mineral exploration end capable of exploring minerals;

[0011] A positioning and navigation structure is fixedly mounted on the base frame body, and the positioning and navigation structure has a mineral positioning end capable of locating the mineral being explored;

[0012] A cutter suction pump body structure, wherein the base portion is fixedly mounted on the base frame body, and the two ends of the cutter suction power end of the cutter suction pump body structure respectively have a pump suction end and a pump suction outlet end connected in a one-to-one correspondence, and the pump suction end is used to suck the minerals located in the exploration;

[0013] The control module is fixed on the basic frame body.

[0014] In some embodiments, several groups of the directional jet conduits are respectively fixed at different positions on the upper part of the basic frame body, and the jet directions of the several groups of the directional jet conduits are all facing away from the basic frame body and are arranged at different directions along a 45° angle.

[0015] In some embodiments, the mineral exploration structure includes a mineral exploration instrument, an underwater camera assembly, and an underwater lighting assembly;

[0016] The mineral exploration instrument is fixedly mounted at the bottom of the main body of the basic frame;

[0017] The underwater camera assembly and the underwater lighting assembly are each provided with a plurality of groups, and the plurality of groups of the underwater camera assembly and the plurality of groups of the underwater lighting assembly are fixedly arranged at intervals on the front and bottom positions of the main body of the basic frame, and the mineral exploration end is formed by the mineral exploration instrument in conjunction with the plurality of groups of the underwater camera assembly and the plurality of groups of the underwater lighting assembly;

[0018] The positioning and navigation structure includes a positioning navigator, a depth sensor and a rangefinder;

[0019] The positioning navigator is fixedly mounted on the top of the main body of the basic frame;

[0020] The depth sensor and the rangefinder are respectively fixed at the bottom position of the basic frame body, and the mineral positioning end is formed by the positioning navigator, the depth sensor and the rangefinder.

[0021] In some embodiments, the cutter suction pump body structure includes a cutter suction pump drive motor, a volute pump casing, a shaft seal seat, a pump body impeller, cutter suction blades, the pump suction inlet end and the pump suction outlet end;

[0022] The base of the cutter suction pump drive motor is vertically fixed to an inner position of the base frame body, the volute pump casing is fixed to an inner position of the base frame body, and the volute pump casing is respectively connected to a pump suction inlet end and a pump suction outlet end;

[0023] The pump suction inlet end serves as the pump suction end for crushing minerals, and is correspondingly directed toward the lower position of the volute pump casing, and the pump suction outlet end extends to the top position of the base frame body;

[0024] The output shaft of the cutter suction pump drive motor passes through and extends to the interior of the volute pump housing, the shaft seal seat is fixedly and closedly arranged on the outside of the volute pump housing, and the shaft seal seat is correspondingly fitted and surrounded by a sealing ring on the outer side of the output shaft of the cutter suction pump drive motor;

[0025] The pump body impeller is rotatably connected to the internal position of the volute pump casing, and a side wall of the pump body impeller is evenly fixedly provided with a plurality of the suction blades. The suction pump drive motor corresponds to the output shaft portion inside the volute pump casing and is transmission-connected to the rotating shaft of the pump body impeller. The pump body impeller serves as the suction power end to form a suction conveying effect from the inside of the volute pump casing.

[0026] In some embodiments, the bottom end of the pump suction port is detachably fixed with a retractable hose portion;

[0027] A plurality of sealing auxiliary blades are evenly fixedly provided on the other side wall of the pump body impeller, and the sealing auxiliary blades serve as back blades of the pump body impeller and rotate coaxially with the cutter suction blades;

[0028] A weight removal block is fixedly installed on one side of the pump body impeller.

[0029] In some embodiments, the underwater drone device further includes:

[0030] Two sets of ore-breaking reamer structures are communicatively connected to the control module; each set of the ore-breaking reamer structures includes a reamer drive motor, a gear transmission assembly, a rolling reamer body and a reamer head;

[0031] The base ends of the two groups of reamer drive motors are respectively fixedly arranged inside the main body of the basic frame, and the two groups of rolling reamer bodies are respectively rotatably connected to the two groups of reamer extension arms at the bottom of the main body of the basic frame. The power ends of the two groups of reamer drive motors are respectively and one-to-one connected to the rotating shafts of the two groups of rolling reamer bodies through the gear transmission assembly;

[0032] The pump suction port end is correspondingly located at one side of the inner center of the two groups of rolling reamer bodies.

[0033] In some embodiments, the underwater drone device further includes:

[0034] a plume blocking structure, including a plume shielding assembly and a flocculant delivery assembly;

[0035] The plume shielding assembly is configured as a plume shielding cloth and an automatic retractable frame for winding the plume shielding cloth, the automatic retractable frame is fixed to the base frame body, and the automatic retractable frame and the plume shielding cloth are correspondingly located above the two sets of rolling reamer bodies;

[0036] The flocculant delivery assembly is fixed to the basic frame body, and the flocculant delivery assembly has a flocculant container and at least two groups of pumping spray ports connected to the flocculant container. The at least two groups of pumping spray ports are correspondingly located above the two groups of rolling reamer bodies and below the plume shielding cloth.

[0037] In some embodiments, the two sets of rolling reamer bodies rotate synchronously from the outside to the center inside position;

[0038] The underwater drone device further comprises:

[0039] The plume air blocking structure includes an air pump and an air blowing pipeline connected and assembled to the output end of the air pump, wherein the output end of the air blowing pipeline extends and is assembled to the base frame body;

[0040] The airflow output from the blowing pipes is directed to the rotating outer sides of the two groups of rolling reamer bodies, and the airflow output from the two groups of blowing pipes is directed to be tangential to the rotation direction of the lower outer sides of the two groups of rolling reamer bodies.

[0041] The at least two groups of pumping and spraying ports of the flocculant delivery assembly are both oriented toward the central inner upper positions of the corresponding two groups of the rolling reamer bodies;

[0042] The air flow outputted by the air blowing pipeline is directed toward the outer sides at both axial ends of the two groups of rolling reamer bodies.

[0043] In some embodiments, the cutter suction pump structure further includes:

[0044] The crushed ore collection head is connected and assembled at the suction inlet end of the pump.

[0045] In some embodiments, a method for using an underwater drone device for deep-sea automated mining includes the following steps:

[0046] Before operation, open the plume shielding component in the plume blocking structure to limit the spread of the plume;

[0047] Mining operations are initiated by activating the reamer drive motor in the ore-breaking reamer structure and the cutter suction pump drive motor in the cutter suction pump structure. Due to the cross-working of the two sets of rolling reamer bodies, the minerals in the shallow surface layer of the seabed can be crushed to a greater extent. At this time, as the device moves forward as a whole, the crushed slag particles are smoothly sucked into the cutter suction pump structure.

[0048] During the operation, the flocculant delivery component in the plume blocking structure is used to reduce the diffusion of the plume to settle the sediment plume, and finally the crushed slag is transported to the barge cabin on the sea surface through a gravity-free pipeline through the cutter suction pump structure or transported to the coast through a relay pump.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] 1. The control module, duct propeller structure, mineral exploration structure, positioning and navigation structure, and cutter suction pump structure are fixedly assembled on the basic frame structure and coordinated to realize deep-sea mining using an underwater drone-like architecture. At the same time, the mineral exploration structure, positioning and navigation structure, and cutter suction pump structure can be used to form an underwater mining operation technology that integrates automated deep-sea mineral exploration, crushing, collection, cutter suction, and transportation;

[0051] 2. By setting up a plume blocking structure, the problem of seabed mud plume diffusion during the mining process can be significantly reduced, thereby reducing the damage to the seabed ecological environment;

[0052] 3. Compared with traditional seabed ore collection vehicles, the underwater drone device used for deep-sea automated mining in the present invention has the advantages of less pollution, strong operational stability, convenient operation, high degree of automation and low cost, which effectively improves the functional practicality of the overall device. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0054] Figure 1 This is a schematic diagram of the overall front view of the underwater drone device for deep-sea automated mining provided by Example 1 of the present invention;

[0055] Figure 2 This is a schematic side view of the overall structure of an underwater drone device for deep-sea automated mining provided by Example 1 of the present invention;

[0056] Figure 3 A schematic top view of the cutter suction pump structure in an underwater drone device for deep-sea automated mining provided in Example 1 of the present invention;

[0057] Figure 4 This is a schematic front view of the structure of the duct propeller body in the underwater drone device for deep-sea automated mining provided in Example 1 of the present invention;

[0058] Figure 5 A schematic side view of the paddle structure of the underwater drone device for deep-sea automated mining provided in Example 1 of the present invention;

[0059] Figure 6 A schematic front view of a partial structure of a cutter suction pump structure in an underwater drone device for deep-sea automated mining provided in Example 1 of the present invention;

[0060] Figure 7 for Figure 6 AA cross-sectional view of ;

[0061] Figure 8 This is a schematic diagram of the operation state of the plume blocking structure of the underwater drone device for deep-sea automated mining provided in Example 1 of the present invention;

[0062] Figure 9 This is a second schematic diagram of the operating state of the plume blocking structure of the underwater drone device for deep-sea automated mining provided by Example 1 of the present invention;

[0063] Figure 10 This is a schematic structural diagram of the telescopic support structure of an underwater drone device for deep-sea automated mining provided in Example 1 of the present invention;

[0064] Figure 11 This is a schematic diagram of the overall front view of the underwater drone device for deep-sea automated mining provided by Example 2 of the present invention;

[0065] Figure 12 This is a schematic side view of the overall structure of an underwater drone device for deep-sea automated mining provided in Example 2 of the present invention.

[0066] In the accompanying drawings, the names of the components represented by the reference numbers are as follows:

[0067] 1. Basic frame structure; 11. Basic frame body;

[0068] 2. Cable buckle frame; 3. Telescopic support structure;

[0069] 4. Plume blocking structure; 41. Plume shielding assembly; 42. Flocculant delivery assembly;

[0070] 5. Mineral reamer structure; 51. Reamer drive motor; 52. Reamer extension arm; 53. Rolling reamer body; 54. Reamer head;

[0071] 6. Cutter suction pump structure; 61. Cutter suction pump drive motor; 62. Volute pump casing; 63. Shaft seal seat; 64. Pump impeller; 65. Cutter suction blades; 66. Pump suction inlet; 661. Retractable hose; 662. Crushing and collecting head; 67. Pump suction outlet; 68. Sealing auxiliary blades; 69. De-weighting block;

[0072] 7. Ducted propeller structure; 71. Directional jet duct; 72. Ducted propeller hub; 73. Ducted propeller blades. DETAILED DESCRIPTION

[0073] The following describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. Obviously, the embodiments described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0074] The terms "upper", "lower", "left", "right", "middle", etc. used in this specification are only for the convenience of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of the present invention without substantially changing the technical content.

[0075] Example 1: Please refer to Figures 1 to 10An embodiment of the present invention provides an underwater drone device for deep-sea automated mining, including a basic frame structure 1, a mineral exploration structure, a positioning and navigation structure, a plume blocking structure 4, a ore-breaking reamer structure 5, a cutter suction pump structure 6, a duct propeller structure 7 and a control module (not shown).

[0076] The control module, duct propeller structure 7, mineral exploration structure, positioning and navigation structure, and cutter suction pump structure 6 are fixedly assembled on the base frame structure 1. These components work together to enable deep-sea mining using an underwater drone-like architecture. Simultaneously, the mineral exploration structure, positioning and navigation structure, ore-breaking reamer structure 5, and cutter suction pump structure 6 form an underwater mining operation that integrates automated deep-sea mineral exploration, crushing, collection, cutter suction, and transportation. Furthermore, the plume blocking structure 4 significantly reduces the spread of seabed mud plumes during mining, minimizing damage to the seabed ecosystem. Compared to traditional mining vehicles, this deep-sea mining architecture offers the advantages of low pollution, strong operational stability, convenient operation, high automation, and low cost.

[0077] Please refer to Figure 1 and Figure 2 The basic frame structure 1 includes a basic frame body 11 and a cable buckle frame 2 fixed to the basic frame body 11. The basic frame body 11 serves as the installation basis of the overall structure, and the cable buckle frame 2 serves as the positioning basis for optical cables, electrical cables and ropes.

[0078] The duct propeller structure 7 is used to balance the weight of components such as the cutter suction pump structure 6 and the drone itself, so that the entire underwater drone device remains stable underwater.

[0079] Specifically, please refer to Figures 1 to 5 There are several groups of duct paddle structures 7, and several groups of duct paddle structures 7 are fixed to the upper position of the basic frame body 11. Specifically, they can be fixed by screws or welding, and several groups of duct paddle structures 7 are all facing away from the basic frame body 11 and are inclined at a 45° angle.

[0080] For more details, please refer to Figures 1 to 5Each set of ducted propeller structures 7 includes a directional jet duct 71, a ducted propeller hub 72 and a ducted propeller blade 73; wherein, several sets of directional jet ducts 71 are respectively fixed at different positions on the upper part of the basic frame body 11, and the jet directions of several sets of directional jet ducts 71 are all facing away from the basic frame body 11 and are arranged at different directions at an angle of 45°; the ducted propeller hub 72 is adapted to be installed inside the directional jet duct 71, and several ducted propeller blades 73 are transmission-fixedly installed on the outer wall of the ducted propeller hub 72. The directional jet duct 71 is covered on the periphery of the ducted propeller hub 72 and the ducted propeller blades 73, which can suppress the radial diffusion of the wake of the ducted propeller blades 73 and increase the reverse thrust formed by the rotation of the ducted propeller blades 73, thereby maintaining the stability of the basic frame structure 1 underwater; at the same time, with the help of the 45° inclination of the ducted propeller blades 73, a water curtain can be formed on the periphery of the basic frame structure 1, effectively preventing the diffusion of bottom mud plumes, reducing damage to the underwater environment, and improving the overall functional practicality.

[0081] The mineral exploration structure (not shown) includes a mineral exploration instrument, an underwater camera assembly, and an underwater lighting assembly. The mineral exploration instrument is fixed to the bottom of the base frame body 11. Several sets of underwater camera assemblies and underwater lighting assemblies are provided, and these sets are fixed to the front and bottom of the base frame body 11 in intervals. The mineral exploration instrument, combined with the multiple sets of underwater camera assemblies and underwater lighting assemblies, forms the mineral exploration end of the mineral exploration structure, effectively enabling automated, multi-dimensional detection of shallow minerals, such as polymetallic nodules, polymetallic sulfides, and cobalt-rich ferromanganese crusts, under various seabed soil conditions, significantly improving the accuracy of mineral detection.

[0082] The positioning and navigation structure (not shown) includes a positioning and navigation system, a depth sensor, and a rangefinder. The positioning and navigation system is fixed to the top of the base frame 11, while the depth sensor and rangefinder are respectively fixed to the bottom of the base frame 11. The positioning and navigation system, along with the depth sensor and rangefinder, form the mineral positioning end of the positioning and navigation system, effectively and automatically marking the distribution range and distance of detected shallow seabed minerals.

[0083] Please continue to refer to Figure 1 and Figure 2, there are two groups of ore-breaking reamer structures 5, each group of ore-breaking reamer structures 5 includes a reamer drive motor 51, a rolling reamer body 53 and a reamer head 54; wherein, the base end of the reamer drive motor 51 can be fixedly arranged inside the basic frame body 11 by screw fastening or welding, and the two groups of rolling reamer bodies 53 are respectively and one-to-one connected to the two groups of reamer extension arms 52 at the bottom of the basic frame body 11, and the power ends of the two groups of reamer drive motors 51 are respectively and one-to-one connected to the rotating shafts of the two groups of rolling reamer bodies 53 through gear transmission components (not shown). The rolling reamer bodies 53 are arranged in a transverse alignment, and the outer walls of the two groups of rolling reamer bodies 53 are respectively and detachably fixedly provided with a plurality of reamer heads 54. The plurality of reamer heads 54 of the two groups of rolling reamer bodies 53 are arranged in a staggered manner in opposite directions, so as to drive the two groups of rolling reamer bodies 53 to rotate synchronously from bottom to top toward the inner position of the center through the reamer drive motor 51 through the gear transmission assembly. In this way, the reamer heads 54 of the two groups of rolling reamer bodies 53 are used to effectively complete the crushing of shallow surface minerals on the seabed, and the rolling direction of the reamer heads 54 can be used to assist in lifting the crushed minerals toward the inner position of the center.

[0084] Please refer to Figures 1 to 3 、 Figure 6 、 Figure 7The cutter suction pump body structure 6 includes a cutter suction pump drive motor 61, a volute pump casing 62, a shaft seal seat 63, a pump body impeller 64, a cutter suction blade 65, a pump suction inlet end 66, a pump suction outlet end 67, a sealing auxiliary blade 68 and a deweighting block 69; wherein, the base portion of the cutter suction pump drive motor 61 is vertically fixed to the internal position of the basic frame body 11, the volute pump casing 62 is fixed to the internal position of the basic frame body 11, and the volute pump casing 62 is respectively connected to the pump suction inlet end 66 and the pump suction outlet end 67; the pump suction inlet end 66 corresponds to the lower position facing the volute pump casing 62, and the pump suction inlet end 66 corresponds to a side portion located at the inner center position of the two sets of rolling reamer bodies 53, and the pump suction outlet end 67 extends to the top position of the basic frame body 11, and is used as the pump suction end for crushing minerals through the pump suction inlet end 66, and at the same time utilizes The pump outlet end 67 is effectively connected to the external transfer pipeline to realize the outward transportation of minerals; the output shaft of the cutter suction pump drive motor 61 passes through and extends to the interior of the volute pump casing 62, and the shaft seal seat 63 is fixedly arranged on the outside of the volute pump casing 62 in a closed manner, and the shaft seal seat 63 is correspondingly fitted and surrounded by a sealing ring on the outer side of the output shaft of the cutter suction pump drive motor 61, so as to effectively improve the sealing performance of the volute pump casing 62 at the shaft connection position through the shaft seal seat 63; the pump body impeller 64 is rotatably connected to the internal position of the volute pump casing 62, and a number of cutter suction blades 65 are evenly fixedly provided on one side wall of the pump body impeller 64, and the cutter suction pump drive motor 61 is connected by transmission between the output shaft corresponding to the interior of the volute pump casing 62 and the rotating shaft of the pump body impeller 64, so as to drive the pump body impeller 64 through the cutter suction pump drive motor 61 to effectively form a cutter suction and conveying effect from the inside of the volute pump casing 62.

[0085] As a preferred solution of this embodiment, please continue to refer to Figure 6 The plurality of cutter suction blades 65 are arranged in a three-dimensional twisted form, so as to utilize the blade channels formed between adjacent cutter suction blades 65 to effectively ensure the passage of larger particles of crushed minerals, thereby reducing the possibility of blockage.

[0086] As another preferred solution of this embodiment, the bottom end portion of the pump suction port 66 is detachably fixedly provided with a retractable hose portion 661. The retractable hose portion 661 may be made of but not limited to a foldable bellows made of wear-resistant material, so that the retractable hose portion 661 can be replaced regularly. At the same time, its length can be flexibly adjusted, which effectively protects the pump suction port 66 from rigid impact and is more convenient for sucking mineral particles.

[0087] As another preferred solution of this embodiment, a number of sealing auxiliary blades 68 are evenly fixedly provided on the other side wall of the pump body impeller 64, so that the sealing auxiliary blades 68 are used as back blades to rotate coaxially with the suction blades 65. Therefore, when the crushed minerals of the suction blades 65 flow to the sealing auxiliary blades 68, the pressure generated by the rotation of the sealing auxiliary blades 68 effectively balances the axial force and plays a certain shaft sealing role.

[0088] As another preferred solution of this embodiment, a deweighting block 69 is fixedly installed on one side of the pump body impeller 64, which is used to effectively prevent the unbalanced vibration of the suction pump body impeller 64 during rotation, thereby further helping to improve the service life of the suction pump body structure 6.

[0089] Please continue to refer to Figure 1 、 Figure 2 、 Figure 8 and Figure 9 The plume blocking structure 4 includes a plume shielding assembly 41 and a flocculant delivery assembly 42. The plume shielding assembly 41 is configured as a plume shielding cloth and an automatic retractable frame for winding the plume shielding cloth. The automatic retractable frame is fixedly mounted on the base frame body 11, and the automatic retractable frame and the plume shielding cloth are correspondingly located above the two sets of rolling reamer bodies 53. The flocculant delivery assembly 42 is fixedly mounted on the base frame body 11, and the flocculant delivery assembly 42 has a flocculant container and at least two sets of pumping and spraying ports connected to the flocculant container. The at least two sets of pumping and spraying ports are correspondingly located above the two sets of rolling reamer bodies 53 and below the plume shielding cloth. The plume shielding assembly 41 is used to significantly reduce the plume diffusion of the rolling reamer bodies 53 during mining operations, and the flocculant delivery assembly 42 can further assist in settling the sediment plume, thereby reducing seabed pollution during mining.

[0090] The underwater drone device of the present application also includes a controllable buoyancy structure (not shown), which is fixedly installed inside the basic frame body 11, and the controllable buoyancy structure can adopt but is not limited to a controllable inflatable buoyancy structure, which is used to further balance the overall weight of the device, the suction effect of the suction pump body structure 6 and the jet impact force received by the plume shielding component 41 in the application state through the controllable buoyancy structure in conjunction with the duct propeller structure 7, thereby improving the operating stability of the device.

[0091] As another preferred solution of this embodiment, please refer to Figure 8 and Figure 9 The two sets of rolling reamer bodies 53 rotate synchronously from the outside to the center inside position based on the a→b direction respectively.

[0092] Furthermore, the underwater drone device also includes a plume air resistance structure, which includes an air pump and an air blowing pipeline connected and assembled at the output end of the air pump. The output end of the air blowing pipeline extends and is assembled to the basic frame body 11, and the air flow direction c output by the air blowing pipeline corresponds to the rotating outer side of the two groups of rolling reamer bodies 53 respectively. The air flow directions c output by the two groups of air blowing pipelines are respectively corresponding to the rotation direction of the lower outer side of the two groups of rolling reamer bodies 53, and are arranged tangent to each other. On the basis of utilizing the symmetrical setting of the air flow output by the two groups of air blowing pipelines to ensure the established stable performance, the air flow wall output by the two groups of air blowing pipelines can be used to further enhance the water flow driven by the rotation of the rolling reamer body 53, so that the plume generated by mining is easier to concentrate and converge downstream along the a→b direction.

[0093] At least two groups of pumping spray ports of the flocculant delivery component 42 are oriented toward the central inner upper position of the corresponding two groups of rolling reamer bodies 53, so that the flocculant sprayed from the pumping spray ports can more efficiently and specifically treat the plumes concentrated downstream along the a→b direction, thereby improving functional practicality.

[0094] Further preferably, the air flow direction c output by the air blowing pipeline also corresponds to the outer sides of the two axial ends of the two groups of rolling reamer bodies 53, so as to further significantly improve the sealing performance of the air flow wall.

[0095] As another preferred solution of this embodiment, please refer to Figure 10 The underwater drone device also includes a telescopic support structure 3 with retractable and supporting capabilities. The support structure 3 is vertically extended, and its base is fixed to the base frame 11. When the base frame 11 is suspended in place, the support structure 3 can be further controlled and driven to extend and contact the seabed, thereby significantly improving the load-bearing capacity and functional stability during operation. The specific structure of the support structure 3 can be based on existing technologies and will not be detailed here.

[0096] The control module can be selected from but not limited to a single-chip microcomputer control board of model AT80C51 and a microcontroller of model STM32; the mineral exploration instrument and underwater camera component in the mineral exploration structure, the positioning navigation instrument, the depth sensor and the rangefinder in the positioning navigation structure are respectively connected to the control input end of the control module through a circuit, and the control output end of the control module is respectively connected to the underwater lighting component in the mineral exploration structure, the plume shielding component 41 and the flocculant delivery component 42 in the plume blocking structure 4, the reamer drive motor 51 in the ore-breaking reamer structure 5, the cutter suction pump drive motor 61 in the cutter suction pump body structure 6, the duct propeller hub 72 in the duct propeller body structure 7, the buoyancy control structure, the air pump in the plume air resistance structure, and the telescopic support structure 3 through a circuit, so as to effectively realize automated seabed mining operations with the help of the control module and its related electrical connection equipment, thereby improving functional practicality.

[0097] The method for using the underwater drone device for deep-sea automated mining comprises the following steps:

[0098] Before operation, the plume shielding component 41 in the plume blocking structure 4 is opened to limit the spread of the plume;

[0099] The mining operation is started by starting the reamer drive motor 51 in the ore-breaking reamer structure 5 and the cutter suction pump drive motor 61 in the cutter suction pump structure 6. Due to the lateral cross-operation of the two sets of rolling reamer bodies 53, the minerals in the shallow surface layer of the seabed can be crushed to a greater extent. At this time, as the entire device moves forward, the crushed slag particles will be smoothly sucked into the cutter suction pump structure 6, reducing the possibility of clogging of the cutter suction pump structure 6.

[0100] During the operation, the flocculant delivery component 42 in the plume blocking structure 4 is used to minimize the diffusion of the plume to settle the sediment plume, and finally the crushed slag is transported to the barge cabin on the sea surface through a gravity-free pipeline through the suction pump body structure 6 or transported to the coast through a relay pump.

[0101] Example 2: In this example, the same symbols are given to the same structures as in Example 1, and the same descriptions are omitted. The difference between Example 2 and Example 1 is that please refer to Figure 11 and Figure 12 The ore-breaking reamer structure 5 is removed, and instead a crushed ore collection head 662 is directly used to directly absorb crushed ore based on the Coanda effect. The crushed ore collection head 662 is connected and assembled to the pump suction port 66. It is used to suck the shallow surface minerals of the seabed into the interior of the cutter suction pump body structure 6 through the crushed ore collection head 662 based on the Coanda effect. The specific structure of the crushed ore collection head 662 can adopt existing technology and is not described in detail here.

[0102] Although the present invention has been described in detail above using general descriptions and specific embodiments, it will be apparent to those skilled in the art that modifications and improvements may be made thereto. Therefore, such modifications and improvements, without departing from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. An underwater drone device for deep-sea automated mining, characterized in that: include: The basic frame structure includes a basic frame body; A plurality of groups of ducted propeller structures are fixedly mounted at different positions on the base frame body. Each group of the ducted propeller structures includes a directional jet duct, a ducted propeller hub, and ducted propeller blades. The ducted propeller hub is rotatably connected to the interior of the directional jet duct, and the outer wall of the ducted propeller hub is fixedly mounted with a plurality of the ducted propeller blades. The buoyancy generated by the rotation of the ducted propeller blades cooperates with the directional jet action of the directional jet duct to stabilize the base frame body underwater. A mineral exploration structure is fixed to the foundation frame body, and the mineral exploration structure has a mineral exploration end capable of exploring minerals; A positioning and navigation structure is fixedly mounted on the base frame body, and the positioning and navigation structure has a mineral positioning end capable of locating the mineral being explored; A cutter suction pump body structure, wherein the base portion is fixedly mounted on the base frame body, and the two ends of the cutter suction power end of the cutter suction pump body structure respectively have a pump suction end and a pump suction outlet end connected in a one-to-one correspondence, and the pump suction end is used to suck the minerals located in the exploration; A control module is fixed to the basic frame body; Two sets of ore-breaking reamer structures are communicatively connected to the control module; each set of the ore-breaking reamer structures includes a reamer drive motor, a gear transmission assembly, a rolling reamer body and a reamer head; The base ends of the two groups of reamer drive motors are respectively fixedly arranged inside the main body of the basic frame, and the two groups of rolling reamer bodies are respectively rotatably connected to the two groups of reamer extension arms at the bottom of the main body of the basic frame. The power ends of the two groups of reamer drive motors are respectively and one-to-one connected to the rotating shafts of the two groups of rolling reamer bodies through the gear transmission assembly; The pump suction port end is located at one side of the center inner side of the two sets of rolling reamer bodies; a plume blocking structure, including a plume shielding assembly and a flocculant delivery assembly; The plume shielding assembly is configured as a plume shielding cloth and an automatic retractable frame for winding the plume shielding cloth, the automatic retractable frame is fixed to the base frame body, and the automatic retractable frame and the plume shielding cloth are correspondingly located above the two sets of rolling reamer bodies; The flocculant delivery assembly is fixedly mounted on the base frame body and comprises a flocculant container and at least two groups of pumping and spraying ports communicating with the flocculant container, wherein the pumping and spraying ports are correspondingly located above the two groups of rolling reamer bodies and below the plume shielding cloth; The plume air blocking structure includes an air pump and an air blowing pipeline connected and assembled to the output end of the air pump, wherein the output end of the air blowing pipeline extends and is assembled to the base frame body; The airflow output from the blowing pipes is directed to the rotating outer sides of the two groups of rolling reamer bodies, and the airflow output from the two groups of blowing pipes is directed to be tangential to the rotation direction of the lower outer sides of the two groups of rolling reamer bodies. The at least two groups of pumping and spraying ports of the flocculant delivery assembly are both oriented toward the central inner upper positions of the corresponding two groups of the rolling reamer bodies; The air flow outputted by the air blowing pipeline is directed toward the outer sides at both axial ends of the two groups of rolling reamer bodies.

2. The underwater drone device for deep-sea automated mining according to claim 1 is characterized in that: Several groups of the directional jet conduits are respectively fixed at different positions on the upper part of the basic frame body, and the jet directions of the several groups of the directional jet conduits are all facing away from the basic frame body and are inclined at a 45° angle towards different directions.

3. The underwater drone device for deep-sea automated mining according to claim 2 is characterized in that: The mineral exploration structure includes a mineral exploration instrument, an underwater camera assembly and an underwater lighting assembly; The mineral exploration instrument is fixedly mounted at the bottom of the main body of the basic frame; The underwater camera assembly and the underwater lighting assembly are each provided with a plurality of groups, and the plurality of groups of the underwater camera assembly and the plurality of groups of the underwater lighting assembly are fixedly arranged at intervals on the front and bottom positions of the main body of the basic frame, and the mineral exploration end is formed by the mineral exploration instrument in conjunction with the plurality of groups of the underwater camera assembly and the plurality of groups of the underwater lighting assembly; The positioning and navigation structure includes a positioning navigator, a depth sensor and a rangefinder; The positioning navigator is fixedly mounted on the top of the main body of the basic frame; The depth sensor and the rangefinder are respectively fixed at the bottom position of the basic frame body, and the mineral positioning end is formed by the positioning navigator, the depth sensor and the rangefinder.

4. The underwater drone device for deep-sea automated mining according to claim 3 is characterized in that: The cutter suction pump body structure includes a cutter suction pump drive motor, a volute pump casing, a shaft seal seat, a pump body impeller, cutter suction blades, the pump suction inlet end and the pump suction outlet end; The base of the cutter suction pump drive motor is vertically fixed to an inner position of the base frame body, the volute pump casing is fixed to an inner position of the base frame body, and the volute pump casing is respectively connected to a pump suction inlet end and a pump suction outlet end; The pump suction inlet end serves as the pump suction end for crushing minerals, and is correspondingly directed toward the lower position of the volute pump casing, and the pump suction outlet end extends to the top position of the base frame body; The output shaft of the cutter suction pump drive motor passes through and extends to the interior of the volute pump housing, the shaft seal seat is fixedly and closedly arranged on the outside of the volute pump housing, and the shaft seal seat is correspondingly fitted and surrounded by a sealing ring on the outer side of the output shaft of the cutter suction pump drive motor; The pump body impeller is rotatably connected to the internal position of the volute pump casing, and a side wall of the pump body impeller is evenly fixedly provided with a plurality of the suction blades. The suction pump drive motor corresponds to the output shaft portion inside the volute pump casing and is transmission-connected to the rotating shaft of the pump body impeller. The pump body impeller serves as the suction power end to form a suction conveying effect from the inside of the volute pump casing.

5. The underwater drone device for deep-sea automated mining according to claim 4 is characterized in that: The bottom end of the pump suction port is detachably fixed with a retractable hose portion; A plurality of sealing auxiliary blades are evenly fixedly provided on the other side wall of the pump body impeller, and the sealing auxiliary blades serve as back blades of the pump body impeller and rotate coaxially with the cutter suction blades; A weight removal block is fixedly installed on one side of the pump body impeller.

6. The underwater drone device for deep-sea automated mining according to claim 4 is characterized in that: The cutter suction pump body structure further includes: The crushed ore collection head is connected and assembled at the suction inlet end of the pump.

7. A method for using the underwater drone device for deep-sea automated mining according to claim 1, characterized in that: The process includes the following: Before operation, open the plume shielding component in the plume blocking structure to limit the spread of the plume; Mining operations are initiated by activating the reamer drive motor in the ore-breaking reamer structure and the cutter suction pump drive motor in the cutter suction pump structure. Due to the cross-working of the two sets of rolling reamer bodies, the minerals in the shallow surface layer of the seabed can be crushed to a greater extent. At this time, as the device moves forward as a whole, the crushed slag particles are smoothly sucked into the cutter suction pump structure. During the operation, the flocculant delivery component in the plume blocking structure is used to reduce the diffusion of the plume to settle the sediment plume, and finally the crushed slag is transported to the barge cabin on the sea surface through a gravity-free pipeline through the cutter suction pump structure or transported to the coast through a relay pump.

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