A Method and System for the Turning Path Navigation of a Deep-Sea Crawler Mining Vehicle

Abstract

The present invention belongs to the field of motion control of deep-sea tracked mining vehicles, and specifically relates to a method and system for path navigation of a deep-sea tracked mining vehicle to turn around, including the following steps: After establishing the coordinate system of the collection operation area and planning the coordinate points of the key positions of the path, the underwater ultra-short baseline transponder receives the acoustic pulse signal of the collection operation area for positioning and sends it back to the navigation information processing unit; the navigation information processing unit obtains the real-time position information of the deep-sea tracked mining vehicle according to the ultra-short baseline transponder signal, compares the deviation from the coordinate points of the key positions of the path, corrects the driving route, and issues a control instruction through the driving control computer to control the deep-sea tracked mining vehicle to adjust the driving direction in real time. After completing the turning-around action, the present invention needs to continue to drive straight for a certain distance until it reaches the boundary of the planned collection operation area. During the straight driving process, the pose can be adjusted. Compared with the traditional turning-around method, it has higher robustness to the control error of the turning speed.

Description

Technical Field

[0001] The invention belongs to the field of motion control of deep - sea tracked mining vehicles, and particularly relates to a turning path navigation method and system for deep - sea tracked mining vehicles. Background Technique

[0002] Under the background of relatively scarce mineral resources, developing deep - sea mineral resources to alleviate the problem of resource scarcity in human society has become a global trend. Deep - sea mineral resources are rich, mainly divided into polymetallic nodules, cobalt - rich crusts, and polymetallic sulfides. With the increasing demand for metal resources by humans, more and more countries are focusing on how to develop and utilize these rich deep - sea mineral resources. Therefore, whether it is the exploration of deep - sea resources or the collection of various deep - sea mineral resources, advanced deep - sea underwater mining vehicle equipment is indispensable.

[0003] For the development of deep - sea mineral resources, deep - sea mining vehicles are the most important link. In order to adapt to the seabed terrain environment and improve the deep - sea mining operation ability, most common deep - sea mining vehicles currently use a track system for driving. The track drive system has advantages such as large walking traction force, strong load - bearing capacity, and stable walking. The common turning path navigation method for tracked mining vehicles is U - shaped. However, due to the generally large turning radius of tracked mining vehicles, it cannot meet the full - coverage operation in the planned collection area. In order to meet the requirements of deep - sea mining collection rate, deep - sea tracked mining vehicles need to traverse and walk according to the path plan in the collection operation area. Due to its own characteristics, the track drive system is difficult to turn around in place in the soft seabed environment, and the turning radius is generally large. In order to achieve full coverage of the driving trajectory of deep - sea tracked mining vehicles, the Ω - shaped turning path navigation method is currently mostly used, that is, turning around and driving through 3 turns with a set minimum safe turning radius. Since the turning speed of deep - sea tracked mining vehicles is significantly lower than that of straight - line driving, this turning path navigation method consumes a lot of time and will seriously affect the collection efficiency of deep - sea tracked mining vehicles.

[0004] Therefore, it is necessary to improve a turning path navigation method for deep - sea tracked mining vehicles, and perform turning and driving with a more reasonable path navigation method, so as to carry out deep - sea mining operations more efficiently. Summary of the Invention

[0005] The invention provides an improved turning path navigation method for deep - sea tracked mining vehicles. The invention can significantly reduce the turning and driving time of deep - sea tracked mining vehicles, significantly reduce the turning driving distance of deep - sea tracked mining vehicles, improve the stress state of the driving tracks, and thus improve the collection efficiency of deep - sea mining operations.

[0006] The technical solution adopted by the present invention to achieve the above object is: A turning path navigation method for a deep-sea tracked mining vehicle, comprising the following steps:

[0007] 1) The driving control computer installed on the deep-sea tracked mining vehicle plans the acquisition operation area and establishes an acquisition operation area coordinate system;

[0008] 2) After the driving control computer plans the key position coordinate points of the path according to the acquisition operation area coordinate system;

[0009] 3) The underwater ultra-short baseline transponder of the deep-sea tracked mining vehicle receives the signal of the ultra-short baseline transponder in the positioned acquisition operation area, and sends back the signal of the ultra-short baseline transponder to the navigation information processing unit;

[0010] 4) The navigation information processing unit of the deep-sea tracked mining vehicle obtains the real-time position information of the deep-sea tracked mining vehicle during driving according to the ultra-short baseline transponder signal, and sends the real-time position information to the driving control computer;

[0011] 5) The driving control computer compares the deviation between the real-time position coordinates of the deep-sea tracked mining vehicle and the key position coordinate points of the path, corrects the driving route according to the real-time position coordinate information, and issues a control instruction through the driving control computer to control the deep-sea tracked mining vehicle to adjust the driving direction in real time to ensure that it always drives according to the key coordinate points planned by the path navigation.

[0012] The specific content of step 1) is:

[0013] The driving control computer of the deep-sea tracked mining vehicle plans the acquisition operation area as a square acquisition operation area, takes the lower left corner of the square acquisition operation area as the origin of the coordinate system, takes the constraint condition of the Y-axis of the acquisition operation area as the length L of the acquisition operation area, and takes the constraint condition of the X-axis of the acquisition operation area as n vehicle body widths to establish an acquisition operation area coordinate system.

[0014] The driving control computer plans the key position coordinate points of the path according to the acquisition operation area coordinate system, specifically as:

[0015] (1) The deep-sea tracked mining vehicle moves to the origin of the acquisition operation area coordinate system, controls the deep-sea tracked mining vehicle to drive straight along the Y-axis of the acquisition operation area coordinate system, and the driving distance is L until it first reaches the other boundary position coordinate point P1(0, L) of the acquisition operation area;

[0016] (2) The driving control computer plans the key position coordinate points P2, P3, and P4 of the path. After the driving control computer plans the path for the deep-sea crawler mining vehicle to reach P4 along P1, P2, and P3 in sequence, it controls the deep-sea crawler mining vehicle to drive to the key position coordinate point P4 of the path through the driver, completing the turning path planning in one direction;

[0017] (3) Control the deep-sea crawler mining vehicle to drive straight forward for a length of L to reach the starting point end boundary of the planned collection operation area, that is, reach the key position coordinate point P5 of the path;

[0018] (4) The driving control computer plans the key position coordinate points P6, P7, and P8 of the path. After the driving control computer plans the path for the deep-sea crawler mining vehicle to reach P8 along P5, P6, and P7 in sequence, it controls the deep-sea crawler mining vehicle to drive to the key position coordinate point P8 of the path through the driver, completing the turning path planning in another direction;

[0019] (5) Complete the turning path planning for one cycle according to steps (1) to (4); the driving control computer takes the target end point of the turning path for one cycle as the origin again, and repeats steps (2) to (5) to carry out mining operations in the planned collection area.

[0020] In step (2), the driving control computer plans the key position coordinate points P2, P3,

[0021] P4, specifically:

[0022] The driving control computer plans the key position coordinate point P2 as:

[0023]

[0024] Among them, the driving distance is B is the vehicle width of the deep-sea crawler mining vehicle, and L is the length of the collection operation area;

[0025] The driving control computer plans the key position coordinate point P3 as:

[0026] The driving control computer plans the key position coordinate point P4 as [B, L];

[0027] In step (2), the controlling the deep-sea crawler mining vehicle to drive to the key position coordinate point P4 of the path through the driver is specifically:

[0028] 2-1) The driving control computer plans the key position coordinate point P2 and controls the deep-sea crawler mining vehicle to turn left relative to the straight driving direction at the set minimum safe turning radius R to the key position coordinate point P2;

[0029] 2-2) Control the deep-sea tracked mining vehicle to stop and perform a reverse movement, and turn left with a set minimum safe turning radius R relative to the reverse direction, and drive to reach the key position coordinate point P3 of the path. At this time, the driving direction of the deep-sea tracked mining vehicle is reversed by 180° relative to the initial state, and it moves a distance of one mining vehicle width B in the X-axis direction relative to the path origin;

[0030] 2-3) Control the deep-sea tracked mining vehicle to drive straight forward After a certain length, it reaches the boundary of the planned collection operation area and reaches the key position coordinate point P4 of the path.

[0031] In step (4), the driving control computer plans the key position coordinate points P6, P7, and P8 of the path, specifically:

[0032] The driving control computer plans the key position coordinate point P6 of the path as:

[0033]

[0034] Among them, the driving distance is B is the vehicle width of the deep-sea tracked mining vehicle, and L is the length of the collection operation area;

[0035] The driving control computer plans the key position coordinate point P7 of the path as:

[0036] The driving control computer plans the key position coordinate point P8 of the path as: [2B, 0];

[0037] In step (4), the process of controlling the deep-sea tracked mining vehicle to drive to the key position coordinate point P8 of the path through the driver is specifically:

[0038] 4-1) The control computer controls the deep-sea tracked mining vehicle to turn right with a set minimum safe turning radius R along the straight driving direction for a certain distance to reach the key position coordinate point P6 of the path;

[0039] 4-2) The control computer controls the deep-sea tracked mining vehicle to perform a reverse movement, and turn right with a set minimum safe turning radius R relative to the reverse direction for a certain distance until it reaches the key position coordinate point P7 of the path. At this time, the deep-sea tracked mining vehicle completes a U-turn again, and moves a distance of one mining vehicle width B in the direction perpendicular to the straight driving relative to the path origin;

[0040] 4-3) Control the deep-sea tracked mining vehicle to drive straight forward the distance until reaching the boundary of the planned acquisition operation area and reaching the key position coordinate point P8 of the path.

[0041] A deep - sea crawler - type mining vehicle turning path navigation system, comprising: an underwater ultra - short baseline transponder, a navigation information processing unit, and a driving control computer;

[0042] The underwater ultra - short baseline transponder is used to receive the acoustic pulse signal for positioning, make a response, and send back the acoustic pulse signal to the navigation information processing unit;

[0043] The navigation information processing unit is used to obtain the real - time position information of the deep - sea crawler - type mining vehicle during driving according to the ultra - short baseline transponder signal;

[0044] The driving control computer is used to plan the acquisition operation area, establish the coordinate system of the acquisition operation area, plan the key position coordinate points of the path, compare the deviation between the real - time position coordinate of the deep - sea crawler - type mining vehicle and the key position coordinate points of the path, correct the driving route according to the real - time position coordinate information, and issue control instructions through the driving control computer to control the deep - sea crawler - type mining vehicle to adjust the driving direction in real - time to ensure that it always drives according to the key coordinate points planned by the path navigation.

[0045] The present invention has the following beneficial effects and advantages:

[0046] 1. The present invention realizes the turning action of the deep - sea crawler - type mining vehicle in the path planning of the planned acquisition area through two consecutive turns with opposite driving directions. Compared with the traditional turning path planning scheme, the present invention can achieve the turning action through a shorter turning distance, and at the same time ensure the moving distance of the deep - sea crawler - type mining vehicle along the vertical direction of the straight - line driving before and after turning, ensuring that the deep - sea crawler - type mining vehicle can more efficiently conduct full - coverage acquisition operations on the planned acquisition area.

[0047] 2. The present invention can compare the deviation between the real - time position coordinate of the deep - sea crawler - type mining vehicle and the coordinate planned by the path navigation, issue control instructions, correct the driving route according to the real - time position coordinate information, and control the deep - sea crawler - type mining vehicle to slightly adjust the driving direction to ensure that it always drives according to the key coordinate points planned by the path navigation.

[0048] 3. After the deep - sea crawler - type mining vehicle of the present invention completes the turning action, it needs to continue to drive in a straight line for a certain distance until reaching the boundary of the planned acquisition operation area. During the straight - line driving process, the position and attitude can be adjusted. Compared with the traditional turning method, it has higher robustness to the error of the turning speed control.

[0049] 4. For each turning path planning and driving of the deep - sea crawler mining vehicle of the present invention, the deep - sea crawler mining vehicle moves a distance equal to the width of the mining vehicle in the vertical direction relative to the straight - line driving, achieving full coverage of the planned collection operation area. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the turning path planning route of the deep - sea crawler mining vehicle provided by an embodiment of the present invention;

[0051] Figure 2 It is a schematic diagram of the position state of the deep - sea crawler mining vehicle provided by an embodiment of the present invention;

[0052] Figure 3 It is a schematic diagram of the turning trajectory provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings used in this embodiment. The drawings are only intended to make a schematic illustration and explanation of this embodiment, and do not limit the scope of this application. Obviously, the following - described drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0054] The turning path navigation method of the deep - sea crawler mining vehicle in the embodiment of the present invention includes the following steps:

[0055] 1) The driving control computer installed on the deep - sea crawler mining vehicle plans the collection operation area and establishes a coordinate system for the collection operation area;

[0056] 2) The driving control computer plans the key position coordinate points of the path according to the coordinate system of the collection operation area;

[0057] 3) The underwater ultra - short baseline transponder of the deep - sea crawler mining vehicle receives the signal of the ultra - short baseline transponder in the positioned collection operation area and sends back the ultra - short baseline transponder signal to the navigation information processing unit;

[0058] 4) The navigation information processing unit of the deep - sea crawler mining vehicle obtains the real - time position information of the deep - sea crawler mining vehicle during driving according to the ultra - short baseline transponder signal and sends the real - time position information to the driving control computer;

[0059] 5) The driving control computer compares the deviation between the real - time position coordinates of the deep - sea crawler mining vehicle and the key position coordinate points of the path, corrects the driving route according to the real - time position coordinate information, and issues a control instruction through the driving control computer to control the deep - sea crawler mining vehicle to adjust the driving direction in real time to ensure that it always drives according to the key coordinate points planned by the path navigation.

[0060] As shown in Figure 1 the figure, it is a schematic diagram of the route of the deep - sea tracked mining vehicle turning path planning method provided by the embodiment of the present invention. The deep - sea tracked mining vehicle turning navigation method is as follows:

[0061] In this embodiment, the starting point of the deep - sea tracked mining vehicle turning path planning method is the lower - left corner of the planned collection operation area;

[0062] The deep - sea tracked mining vehicle is at the lower - left corner of the square area of the planned collection operation, and the mid - point of the bow direction of the deep - sea tracked mining vehicle is used as the path planning origin P0;

[0063] Control the deep - sea tracked mining vehicle to drive straight along the boundary of the planned collection operation area from the operation origin until it first reaches the coordinate point P1 of the other boundary position of the planned collection operation area;

[0064] Control the deep - sea tracked mining vehicle to turn left with a set minimum safe turning radius relative to the straight - line driving direction until it reaches the key path coordinate point P2;

[0065] Control the deep - sea tracked mining vehicle to perform a reverse movement, and turn right with a set minimum safe turning radius relative to the reverse direction until it reaches the key path coordinate point P3. The driving direction of the deep - sea tracked mining vehicle is reversed by 180° relative to the initial driving direction, and it moves a distance equal to the width of the mining vehicle in the direction perpendicular to the straight - line driving relative to the path origin;

[0066] Control the deep - sea tracked mining vehicle to drive straight forward until it reaches the boundary of the planned collection operation area, reaching the key path coordinate point P4;

[0067] Control the deep - sea tracked mining vehicle to drive straight forward until it reaches the starting - point end boundary of the planned collection operation area, reaching the key path coordinate point P5;

[0068] Control the deep - sea tracked mining vehicle to turn right with a set minimum safe turning radius along the previous straight - line driving direction until it reaches the key path coordinate point P6;

[0069] Control the deep - sea tracked mining vehicle to perform a reverse movement, and turn left with a set minimum safe turning radius relative to the reverse direction until it reaches the key path coordinate point P7. At this time, the deep - sea tracked mining vehicle completes a U - turn again, and moves a distance equal to the width of the mining vehicle in the direction perpendicular to the straight - line driving relative to the path origin again;

[0070] Control the deep - sea tracked mining vehicle to drive straight forward until it reaches the boundary of the planned collection operation area, reaching the key path coordinate point path key position coordinate point P8;

[0071] Complete the path planning for two full turns of the deep-sea tracked mining vehicle to form a cycle, and continue to use this planned path to carry out mining operations in the planned collection area.

[0072] Among them, Figure 1 The method for establishing the coordinate system in is specifically as follows:

[0073] The deep-sea tracked mining vehicle driving control computer plans the collection operation area as a square collection operation area, takes the lower left corner of the square collection operation area as the origin of the coordinate system, takes the constraint condition of the Y-axis of the collection operation area as the length L of the collection operation area, and takes the constraint condition of the X-axis of the collection operation area as n vehicle body widths to establish the coordinate system of the collection operation area.

[0074] Among them, the method for the key position coordinate points of the planned path and the method for the traveling process are as follows:

[0075] The deep-sea tracked mining vehicle is at the lower left corner of the square area for planned collection operations, and takes the midpoint of the bow direction of the deep-sea tracked mining vehicle as the path planning origin P0, with the coordinate point (0, 0);

[0076] Control the deep-sea tracked mining vehicle to drive straight along the boundary of the planned collection operation area from the operation origin until it first reaches the other boundary position coordinate point P1 of the planned collection operation area (the coordinate point is 0, L), and the driving distance is L, where L is the length of the square area for planned collection operations;

[0077] Control the deep-sea tracked mining vehicle to turn left at a set minimum safe turning radius R relative to the straight driving direction until it reaches the path key position coordinate point P2, and the coordinate point is The driving distance is where B is the vehicle width of the deep-sea tracked mining vehicle;

[0078] As Figure 3 shown, it is a schematic diagram of the turning trajectory provided by an embodiment of the present invention. Control the deep-sea tracked mining vehicle to stop and perform a reverse movement, and turn left at a set minimum safe turning radius R relative to the reverse direction until it reaches the path key position coordinate point P3, and the coordinate point is The driving distance is At this time, the driving direction of the deep-sea tracked mining vehicle is reversed by 180° relative to the initial state, and it moves a distance of one vehicle width B in the direction perpendicular to the straight driving relative to the path origin;

[0079] Control the deep-sea tracked mining vehicle to drive straight forward until it reaches the boundary of the planned collection operation area, and reach the path key position coordinate point P4, with the coordinate point [B, L], and the driving distance is

[0080] Control the deep - sea tracked mining vehicle to drive straight forward until it reaches the starting - point end boundary of the planned collection operation area, reaching the key position coordinate point P5 of the path, with the coordinate point being [B, 0] and the driving distance being L;

[0081] Control the deep - sea tracked mining vehicle to turn right with a set minimum safe turning radius R along the previous straight - line driving direction until it reaches the key position coordinate point P6 of the path, with the coordinate point being The driving distance is

[0082] Control the deep - sea tracked mining vehicle to perform a reverse movement and turn right with a set minimum safe turning radius R relative to the reverse direction until it reaches the key position coordinate point P7 of the path, with the coordinate point being The driving distance is At this time, the deep - sea tracked mining vehicle completes a U - turn again and moves a distance of one mining vehicle width B in the direction perpendicular to the straight - line driving relative to the path origin;

[0083] As Figure 2 shown, it is a schematic diagram of the position state of the deep - sea tracked mining vehicle in the deep - sea tracked mining vehicle U - turn path planning method provided by an embodiment of the present invention. After two turns of driving, the driving direction of the deep - sea tracked mining vehicle is reversed by 180°, and the U - turn action is completed;

[0084] Control the deep - sea tracked mining vehicle to drive straight forward until it reaches the boundary of the planned collection operation area, reaching the key position coordinate point P8 of the path, with the coordinate point being [2B, 0] and the driving distance being

[0085] Complete two complete U - turn path plans of the deep - sea tracked mining vehicle and form a cycle, with the total driving distance being It is possible to continue mining operations in the planned collection area according to this planned path.

[0086] According to another aspect of the present invention, the present invention provides a deep - sea tracked mining vehicle U - turn path navigation system for path - driving navigation, including: an underwater ultra - short baseline transponder, a navigation information processing unit, and a driving control computer;

[0087] The underwater ultra - short baseline transponder is used to receive the acoustic pulse signal for positioning and make a response, and send back the acoustic pulse signal to the navigation information processing unit;

[0088] The navigation information processing unit is used to obtain the real - time position information of the deep - sea tracked mining vehicle during driving according to the ultra - short baseline transponder signal;

[0089] A driving control computer is used to plan the acquisition operation area, establish the coordinate system of the acquisition operation area, plan the coordinate points of the key positions of the path, compare the deviation between the real-time position coordinates of the deep-sea tracked mining vehicle and the coordinate points of the key positions of the path, correct the driving route according to the real-time position coordinate information, and issue control instructions through the driving control computer to control the deep-sea tracked mining vehicle to adjust the driving direction in real time to ensure that it always drives according to the coordinate points of the key positions of the path planned by the path navigation.

[0090] In summary, the present invention can compare the deviation between the real-time position coordinates of the deep-sea tracked mining vehicle and the coordinates planned by the path navigation, issue control instructions, correct the driving route according to the real-time position coordinate information, and control the deep-sea tracked mining vehicle to slightly adjust the driving direction to ensure that it always drives according to the key coordinate points planned by the path navigation. In addition, after the deep-sea tracked mining vehicle completes the turning action, it needs to continue to drive straight for a certain distance until it reaches the boundary of the planned acquisition operation area. During the straight driving process, the position and attitude can be adjusted. Compared with the traditional turning method, it has higher robustness to the error of the turning speed control.

[0091] The above is only the implementation mode of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for navigating the turning path of a deep - sea tracked mining vehicle, characterized in that, it includes the following steps: 1) The driving control computer installed on the deep - sea tracked mining vehicle plans the collection operation area and establishes a coordinate system for the collection operation area; 2) The driving control computer plans the coordinate points of the key positions of the path according to the coordinate system of the collection operation area; The method for planning the coordinate points of the key positions of the path and the method for the traveling process are as follows: The deep - sea tracked mining vehicle is at the lower - left corner of the square area for planned collection operation, and the mid - point of the bow direction of the deep - sea tracked mining vehicle is used as the path - planning origin P0; Control the deep - sea tracked mining vehicle to drive straight along the boundary of the planned collection operation area from the operation origin until it first reaches the coordinate point P1 of another boundary position of the planned collection operation area; Control the deep - sea tracked mining vehicle to turn left with a set minimum safe turning radius relative to the straight - driving direction until it reaches the path key position coordinate point P2; Control the deep - sea tracked mining vehicle to perform a reverse movement, and turn right with a set minimum safe turning radius relative to the reverse direction until it reaches the path key position coordinate point P3. The driving direction of the deep - sea tracked mining vehicle is reversed by 180° relative to the initial driving direction, and it moves a distance equal to the width of the mining vehicle in the direction perpendicular to the straight - line driving relative to the path origin; 3) The underwater ultra - short baseline transponder of the deep - sea tracked mining vehicle receives the signal of the ultra - short baseline transponder in the located collection operation area and sends back the signal of the ultra - short baseline transponder to the navigation information processing unit; 4) The navigation information processing unit of the deep - sea tracked mining vehicle obtains the real - time position information of the deep - sea tracked mining vehicle during driving according to the ultra - short baseline transponder signal and sends the real - time position information to the driving control computer; 5) The driving control computer compares the deviation between the real - time position coordinates of the deep - sea tracked mining vehicle and the coordinate points of the key positions of the path, corrects the driving route according to the real - time position coordinate information, and issues a control instruction through the driving control computer to control the deep - sea tracked mining vehicle to adjust the driving direction in real time to ensure that it always drives according to the key coordinate points planned by the path navigation.

2. A method for navigating the turning path of a deep - sea tracked mining vehicle according to claim 1, characterized in that, the step 1), specifically: The driving control computer of the deep - sea tracked mining vehicle plans the collection operation area as a square collection operation area, takes the lower - left corner of the square collection operation area as the origin of the coordinate system, takes the constraint condition of the Y - axis of the collection operation area as the length L of the collection operation area, and takes the constraint condition of the X - axis of the collection operation area as n vehicle body widths to establish a coordinate system for the collection operation area.

3. A method for navigating the turning path of a deep - sea tracked mining vehicle according to claim 1, characterized in that, the driving control computer plans the coordinate points of the key positions of the path according to the coordinate system of the collection operation area, specifically: (1) The deep - sea tracked mining vehicle moves to the origin of the coordinate system of the collection operation area, controls the deep - sea tracked mining vehicle to drive straight along the Y - axis of the coordinate system of the collection operation area, and the driving distance is L until it first reaches the coordinate point P1(0, L) of another boundary position of the collection operation area; (2) The driving control computer plans the key position coordinate points P2, P3, and P4 of the path. After the driving control computer plans the path for the deep-sea tracked mining vehicle to reach P4 along P1, P2, and P3 in sequence, it controls the deep-sea tracked mining vehicle to drive to the key position coordinate point P4 of the path through the driver, completing the turning path planning in one direction; (3) Control the deep-sea tracked mining vehicle to drive straight forward for a length of L to reach the starting point end boundary of the planned collection operation area, that is, reach the key position coordinate point P5 of the path; (4) The driving control computer plans the key position coordinate points P6, P7, and P8 of the path. After the driving control computer plans the path for the deep-sea tracked mining vehicle to reach P8 along P5, P6, and P7 in sequence, it controls the deep-sea tracked mining vehicle to drive to the key position coordinate point P8 of the path through the driver, completing the turning path planning in another direction; (5) Complete the turning path planning for one cycle according to steps (1) to (4); the driving control computer takes the target end point of the turning path for one cycle as the origin again, and repeats steps (2) to (5) to carry out mining operations in the planned collection area.

4. A turning path navigation method for a deep-sea tracked mining vehicle according to claim 3, characterized in that, in step (2), when the driving control computer plans the key position coordinate points P2, P3, and P4 of the path, specifically: When the driving control computer plans the key position coordinate point P2 of the path: Among them, the driving distance is B is the vehicle width of the deep-sea crawler mining vehicle, and L is the length of the collection operation area; The key position coordinate point P3 of the planned path by the driving control computer is as follows: The driving control computer plans the key position coordinate point P4 of the path as [B, L].

5. A turning path navigation method for a deep-sea tracked mining vehicle according to claim 3, characterized in that, in step (2), when controlling the deep-sea tracked mining vehicle to drive to the key position coordinate point P4 of the path through the driver, specifically: 2-1) The driving control computer plans the key position coordinate point P2 of the path and controls the deep-sea tracked mining vehicle to turn left relative to the straight driving direction at the set minimum safe turning radius R to the key position coordinate point P2 of the path; 2-2) Control the deep-sea tracked mining vehicle to stop and perform a reverse movement, and turn left with a set minimum safe turning radius R relative to the reverse direction and drive to reach the key position coordinate point P3 of the path. At this time, the driving direction of the deep-sea tracked mining vehicle is reversed by 180° relative to the initial state, and it moves a distance of one mining vehicle width B in the X-axis direction relative to the path origin; 2-3) Control the deep-sea tracked mining vehicle to drive in a straight line in the forward direction After the length, it reaches the boundary of the planned collection operation area and reaches the key position coordinate point P4 of the path.

6. A turning path navigation method for a deep-sea tracked mining vehicle according to claim 3, characterized in that, in step (4), when the driving control computer plans the key position coordinate points P6, P7, and P8 of the path, specifically: When the driving control computer plans the key position coordinate point P6 of the path: Among them, the driving distance is B is the vehicle width of the deep-sea tracked mining vehicle, and L is the length of the collection operation area; The key position coordinate point P7 of the path planned by the driving control computer is as follows: The driving control computer plans the key position coordinate point P8 of the path as: [2B, 0].

7. A turning path navigation method for a deep-sea tracked mining vehicle according to claim 3, characterized in that, in step (4), when controlling the deep-sea tracked mining vehicle to drive to the key position coordinate point P8 of the path through the driver, specifically: 4-1) The control computer controls the deep-sea tracked mining vehicle to turn right along the straight driving direction with the set minimum safe turning radius R by a distance to reach the key position coordinate point P6 of the path; 4-2) The control computer controls the deep-sea tracked mining vehicle to perform a reverse movement and turn right with a set minimum safe turning radius R relative to the reverse direction by a distance until it reaches the key position coordinate point P7 of the path. At this time, the deep-sea tracked mining vehicle completes a U-turn again and moves a distance equal to the width B of the mining vehicle in the direction perpendicular to the straight-line driving relative to the path origin; 4-3) Control the deep-sea tracked mining vehicle to travel in a straight line in the forward direction by a distance until it reaches the boundary of the planned collection operation area and reaches the key position coordinate point P8 of the path.

8. A navigation system for a turning path navigation method of a deep-sea tracked mining vehicle according to any one of claims 1 to 7, characterized in that, comprising: an underwater ultra-short baseline transponder, a navigation information processing unit, and a driving control computer; The underwater ultra-short baseline transponder is used to receive the acoustic pulse signal for positioning, make a response, and send back the acoustic pulse signal to the navigation information processing unit; A navigation information processing unit, which is used to obtain the real-time position information of the deep-sea tracked mining vehicle during driving according to the ultra-short baseline transponder signal; A driving control computer, which is used to plan the collection operation area, establish the coordinate system of the collection operation area, plan the coordinate points of the key positions of the path, compare the deviation between the real-time position coordinates of the deep-sea tracked mining vehicle and the coordinate points of the key positions of the path, correct the driving route according to the real-time position coordinate information, and issue control instructions through the driving control computer to control the deep-sea tracked mining vehicle to adjust the driving direction in real time to ensure that it always drives according to the key coordinate points planned by the path navigation.

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