Crawler-type ore collecting vehicle walking performance test method based on intelligent delineation of seabed terrain
The experimental method of tracked mining trucks that intelligently depict seabed topography has solved the problem of low walking efficiency of seabed mining trucks, achieved accurate simulation of seabed topography and optimization of mining truck performance, and improved mining efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA UNIV OF PETROLEUM (EAST CHINA)
- Filing Date
- 2023-06-13
- Publication Date
- 2026-06-02
AI Technical Summary
Subsea mining trucks are inefficient at navigating complex seabed terrain and are prone to causing mining system malfunctions due to obstacles. Existing technologies lack effective methods for understanding and controlling seabed terrain.
The test method of intelligently characterizing the seabed topography of tracked mining trucks was adopted. By sampling deep-sea rock and soil layers and analyzing their mechanical properties, a scaled-down mining truck and model test box were made. Intelligent robotic arms were used to simulate the terrain and optimize parameters, and the walking time and collection efficiency were recorded.
It achieves accurate simulation of seabed topography and optimizes the movement performance of mining trucks, thereby improving mining efficiency and safety.
Smart Images
Figure CN116804599B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of deep-sea mining technology, specifically to a test method for the walking performance of a tracked mining vehicle based on intelligent seabed topography mapping. Background Technology
[0002] The demand for mineral resources is increasing, but mining on land is becoming increasingly difficult and profitable. As terrestrial mineral resources become increasingly depleted, marine mineral resources, such as manganese nodules, cobalt-rich crusts, and sulfides, are receiving more and more attention from various countries.
[0003] Manganese nodules and other minerals are widely distributed across the global seabed, with substantial total reserves, though their distribution varies significantly across different sea areas. The Pacific Ocean is the region with the densest concentration and largest reserves of manganese nodules, which are generally distributed in a belt-like pattern along several submarine ridges. my country's mining areas are mainly located in the eastern Pacific Ocean, in typical deep-sea plains covered with thick layers of silt and sediment. Seabed sediments differ from terrestrial sediments, exhibiting lower shear strength and possessing agitated fluid characteristics and plasticity.
[0004] The movement of underwater mining trucks is an indispensable part of underwater mining, but the seabed terrain they traverse is extremely complex. Some areas of the seabed are relatively flat, while others exhibit characteristics of being low in the middle and high on both sides, or vice versa, or even more complex.
[0005] As a key technology in deep-sea mining systems, the seabed ore collection vehicle will carry mining equipment, crushers, hydraulic systems, electronic compartments, and long hoses to travel on complex seabed terrain. During its operation, it will be affected by factors such as complex seabed terrain and variable geological characteristics.
[0006] Due to technological and financial limitations, most deep-sea areas have never been explored before, resulting in very little understanding of the seabed topography. The complex and varied seabed topography affects the efficiency of ore collection vehicles. In rugged terrain, such as trenches and obstacles with a vertical height greater than the vehicle's wheels, the vehicles may become immobile, paralyzing the entire mining system. Therefore, to ensure the safe movement of ore collection vehicles, they should be positioned on suitable seabed terrain. Thus, ore collection vehicle movement control is a key technology in the entire mining system, and finding suitable seabed topography to achieve optimal mining efficiency is of great significance. Summary of the Invention
[0007] To overcome the shortcomings of existing technologies, this invention provides a test method for the walking performance of a tracked mining truck based on intelligent seabed topography mapping.
[0008] To achieve the above objectives, the present invention adopts the following technical solution:
[0009] The test method for the walking performance of a tracked mining truck based on intelligent seabed topography mapping is as follows:
[0010] (1) Drilling samples of deep-sea seabed rock and soil layers in the field, analyzing their mineral composition and determining their particle size distribution, and using in-situ tests to determine their basic physical and mechanical properties;
[0011] (2) Based on the properties of the soil samples obtained from on-site drilling and the mechanical parameters determined by in-situ tests, prepare similar materials for the seabed soil samples used in laboratory simulation tests.
[0012] (3) Making model test chambers and scaled-down ore collection cars;
[0013] (4) Based on the seabed topography, design various experimental simulation terrains;
[0014] (5) Based on the seabed topography scanning data or according to the experimentally simulated topography designed by ourselves, intelligent robots are used to control intelligent laying robotic arms and intelligent carving robotic arms to carry out additive laying and subtractive cutting; additive laying is mainly used for automatically spreading similar materials to seabed soil samples, and subtractive cutting is mainly used for cutting and processing special hard rock terrain.
[0015] (6) Place similar seabed soil samples into the model test chamber and fill it with water to simulate seawater. Place the scaled-down mining car on the similar seabed soil samples at the bottom of the model test chamber and start driving to simulate the actual seabed manganese nodule mining process.
[0016] (7) Record the travel time of the scaled mining car at the set travel distance, weigh the collected manganese nodule blocks, and analyze the manganese nodule collection efficiency.
[0017] (8) Change the track parameters, power parameters and terrain of the scaled mining car, repeat the test, analyze the test results, obtain the optimal parameters of the scaled mining car for different terrains, and achieve the optimal mining efficiency.
[0018] Compared with the prior art, the present invention has the following beneficial effects:
[0019] 1. To achieve intelligent characterization of seabed topography and automatically and accurately simulate different complex terrains, providing a test platform for simulating the mining process of mining trucks;
[0020] 2. This invention method can be widely applied to the study of geotechnical mechanical properties in fields such as civil engineering, hydropower, transportation, and energy, and has a wide range of applications. Attached Figure Description
[0021] Figure 1 A schematic diagram of the test method for the walking performance of a tracked mining truck based on intelligent seabed topography.
[0022] Figure 2 This is a schematic diagram of the model test chamber and the scaled-down ore collection car.
[0023] In the image: 1. Intelligent carving robotic arm, 2. Scaled-down mining cart, 3. Model test chamber, 4. Seabed similar material, 5. Intelligent laying robotic arm, 6. Water;
[0024] Figure 3 A scaled-down diagram of a mining car;
[0025] In the diagram: 7. Drive wheel, 8. Track roller, 9. Carrier chain roller, 10. Running frame, 11. Track, 12. Tensioning device, 13. Idler wheel;
[0026] Figure 4 Schematic diagrams of intelligent paving robotic arms and intelligent carving robotic arms;
[0027] In the diagram: 14. Rotary disk I, 15. Rotary disk II, 16. Rotary knob I, 17. Similar material inlet, 18. Rotary knob II, 19. Removable sleeve, 20. Engraving head;
[0028] Figure 5 Schematic diagrams of different seabed topography. Detailed Implementation
[0029] like Figure 1 As shown, the experimental method for the walking efficiency of a tracked mining truck based on intelligent seabed topography depiction includes the following steps:
[0030] 1. Deep-sea seabed rock and soil layers are sampled by in-situ drilling, and their mineral composition and particle size distribution are analyzed. In-situ tests are then used to determine their basic physical and mechanical properties. The specific methods are as follows:
[0031] Deep-sea sampling technology was employed to conduct on-site drilling and sampling of deep-sea seabed soil and rock layers. The samples were transported to the laboratory with insulation and moisture retention. Mineral composition was analyzed using SEM and XRD, and particle size distribution was determined through sieve analysis. In-situ tests were used to analyze the seabed soil samples to obtain the porosity e and soil bulk density ρ. b Soil relative density D r Particle specific gravity d s Elastic modulus E, Poisson's ratio μ, tensile strength σ t internal friction angle Basic physical and mechanical parameters such as cohesion c are used as the basis for preparing similar materials for seabed soil samples.
[0032] 2. Based on the properties of the soil samples obtained from on-site borehole core sampling and the mechanical parameters determined by in-situ tests, prepare similar materials for the seabed soil samples used in laboratory simulation tests. The specific methods are as follows:
[0033] Based on the properties of soil samples obtained from on-site borehole cores and the mechanical parameters determined by in-situ tests, such as void ratio e and soil bulk density ρ b Soil relative density D r Particle specific gravity d s Elastic modulus E, Poisson's ratio μ, tensile strength σ t internal friction angle Cohesion c; The similar material for the seabed soil sample used in the laboratory simulation test was prepared. The similar material consisted of bentonite, manganese nodule ore, silt, fine sand, clay, mica powder, iron powder, gypsum, lime, resin, and kaolin, with the following ratio: bentonite: manganese nodule ore: silt: fine sand: clay: mica powder: iron powder: gypsum: lime: resin: kaolin = 1:0.1:0.05:0.01:0.01:0.04:0.02:0.02:0.01:0.01:0.01; After a period of sedimentation, the mechanical parameters of the similar material for the seabed soil sample were analyzed. The mechanical parameters of the seabed soil sample were measured and compared with those obtained from in-situ core drilling. The mechanical parameters of the similar materials should conform to the set ratio of similar materials. By adjusting the ratio of similar materials, simulated sediments with different physical and mechanical properties can be prepared. For example, increasing the ratio of gypsum and lime can increase the strength of the similar materials; increasing the ratio of clay, resin and kaolin can increase the viscosity of the similar materials; increasing the ratio of silt and fine sand can loosen the soil and reduce the viscosity of the similar materials. Thus, seabed surface sediments at different sea areas and depths can be simulated as needed.
[0034] 3. Construct a model test chamber and a scaled-down mine car. The specific methods are as follows:
[0035] The scaled-down ore collecting car must match the actual ore collecting car in terms of size and weight; the scaled-down ore collecting car size: actual ore collecting car size = 1:50; the scaled-down ore collecting car weight: actual ore collecting car weight = 1:500; the scaled-down ore collecting car 2 consists of a tracked walking system, a power and transmission system, a power supply system, a control system, a monitoring system, and a data acquisition system. The control system can regulate the speed of the scaled-down ore collection car and collect its operating parameters, including vehicle speed, acceleration, tilt angle, and travel distance. The tracked system includes drive wheels 7, tracks 11, guide wheels 13, drag chain wheels 9, tensioning device 12, running frame 10, and support rollers 8. Its function is to convert the torque transmitted from the power transmission system into the traction force of the scaled-down ore collection car 2 via drive wheels 7 and tracks 11. In addition to transmitting power, the power and transmission system is connected to a reduction mechanism, with deceleration controlled by the control system. The power supply system consists of cables and a generator. The monitoring system uses a 3D image processing method to load a virtual image of the simulated seabed into the data system, which generates scanning data such as seabed profiles. The acquisition system includes a water jet device and a mineral particle collection device, capable of collecting manganese nodules along the path of the scaled-down ore collection car.
[0036] The dimensions of the model test chamber 3 must meet the needs of paving various terrains and different sea levels. The length, width, and height of the model test chamber are set to 5m, 3m, and 4m, respectively.
[0037] 4. Based on the seabed topography, design various experimental simulation terrains. The specific methods are as follows:
[0038] Based on the seabed topography, various experimental simulated terrains were designed, such as flat terrain, slopes with different gradients, mountain peaks, valleys, isolated rocks, and waves (see...). Figure 5 ).
[0039] 5. Based on seabed topographic scanning data or according to the self-designed experimental simulated topography, intelligent robots are used to control intelligent laying robotic arm 5 and intelligent carving robotic arm 1 to perform additive laying and subtractive cutting (see...). Figure 4 Additive backfilling is mainly used for automatically spreading materials similar to seabed soil samples, while subtractive machining is mainly used for machining special hard rock terrain. Specific methods are as follows:
[0040] Based on seabed topographic scanning data or according to self-designed experimental simulated terrain, intelligent robots control intelligent laying robotic arms 5 and intelligent carving robotic arms 1 to perform additive laying and subtractive cutting. For example, if it is necessary to lay flat, sloping, or wavy seabed soil layers formed by uniform rock and soil materials, intelligent laying robotic arm 5 automatically spreads similar materials from the seabed soil sample. The top of the intelligent laying robotic arm has an autonomously detachable sleeve 19, which comes in three sizes: coarse, medium, and fine, allowing control over the amount and size of similar materials discharged. If it is necessary to lay boulders or raised, hard rock peaks, intelligent carving robotic arm 1 cuts and processes the special hard rock terrain. Figure 3 As shown, the intelligent laying robot arm 5, the intelligent carving robot arm 1, the rotating disk I14, the rotating disk II15, the rotating knob I16, the similar material inlet 17, the rotating knob II18, the detachable sleeve 19, and the carving head 20 are characterized in that the rotating disk I14, the rotating disk II15, the rotating knob I16, and the rotating knob II18 can rotate to corresponding angles as needed; the similar material inlet can be inserted into a similar material delivery pipe to provide similar material to the intelligent laying robot arm 5.
[0041] 6. Place a seabed soil sample-like material inside the model test chamber and fill it with water to simulate seawater. Place a scaled-down ore collection car on the seabed soil sample-like material at the bottom of the model test chamber and begin driving to simulate the actual seabed manganese nodule mining process. The specific method is as follows:
[0042] A seabed soil sample similar material 4 was placed inside the model test chamber 3, and water 6 was added to simulate seawater. After standing for a period of time, a scaled-down mining cart 2 was placed on the seabed soil sample similar material 4 at the bottom of the model test chamber, and then moved from side A to side B of the model test chamber 3. Figure 2 The simulation begins, recreating the actual process of mining manganese nodules on the seabed.
[0043] In all simulated terrains, the water level in model test chamber 3 is 3m high, and the lowest point of the similar material from the seabed soil sample is 1m high; the slopes are 15°, 30°, and 45°.
[0044] 7. Record the travel time of the scaled-down ore collection car over the set distance, weigh the collected manganese nodules, and analyze the manganese nodule collection efficiency. The specific method is as follows:
[0045] The control system sets the speed of the scaled ore collecting car to remain constant. The travel time of the scaled ore collecting car from side A to side B of the model test box is recorded, and the mass of the collected manganese nodules is weighed. The process is repeated at least 6-10 times, and the average value is taken to analyze the total mass of manganese nodules collected per unit time.
[0046] 8. Change the track parameters, power parameters, and terrain of the scaled-down ore collecting car, repeat the test, analyze the test results, and obtain the optimal parameters of the scaled-down ore collecting car for different terrains to achieve optimal mining efficiency. The specific method is as follows:
[0047] The following methods were employed: altering the bandwidth, shape, length, and width of the track teeth of the scaled-down ore collecting car, as well as the spacing between the teeth; changing the traction force of the scaled-down ore collecting car; altering the terrain; changing the water jet pressure, the layout of the water jet orifices, and the water jet collection method (dual jet, wall-mounted jet, etc.); repeating the tests, analyzing the influence of the traction force of the scaled-down ore collecting car and the track parameters on mining efficiency under different terrain conditions, and summarizing the optimal track design parameters for different terrain conditions.
Claims
1. A test method for the walking performance of a tracked mining truck based on intelligent seabed topography characterization, characterized in that, The steps are as follows: (1) Drilling samples of deep-sea seabed rock and soil layers in the field, analyzing their mineral composition and determining their particle size distribution, and using in-situ tests to determine their basic physical and mechanical properties; (2) Based on the properties of the soil samples obtained from on-site drilling and the mechanical parameters determined by in-situ tests, prepare similar materials for the seabed soil samples used in laboratory simulation tests; simulate seabed surface sediments at different sea areas and depths; (3) Make a model test box and a scaled-down ore collection car; the scaled-down ore collection car size: the actual ore collection car size = 1:50, the scaled-down ore collection car weight: the actual ore collection car weight = 1:500; (4) Based on the seabed topography, design various experimental simulation terrains, including flat terrain, slope terrain with different gradients, mountain terrain, valley terrain, isolated rock terrain, and wave terrain. (5) Based on the seabed topography scanning data or according to the experimentally simulated topography designed by ourselves, intelligent robots are used to control intelligent laying robotic arms and intelligent carving robotic arms to carry out additive laying and subtractive cutting; additive laying is used to automatically spread similar materials to seabed soil samples, and subtractive cutting is used to cut and process special hard rock terrain. (6) Place similar seabed soil samples into the model test chamber and fill it with water to simulate seawater. Place the scaled-down mining car on the similar seabed soil samples at the bottom of the model test chamber and start driving to simulate the actual seabed manganese nodule mining process. (7) Record the travel time of the scaled mining car at the set travel distance, weigh the collected manganese nodule blocks, and analyze the manganese nodule collection efficiency. The specific method is as follows: The control system sets the speed of the scaled ore collection car to remain constant, records the travel time of the scaled ore collection car from side A to side B of the model test box, and weighs the mass of the collected manganese nodules. The process is repeated at least 6-10 times and the average value is taken. The total mass of manganese nodules collected per unit time is analyzed. (8) Change the track parameters, power parameters and terrain of the scaled mining car, repeat the test, analyze the test results, obtain the optimal parameters of the scaled mining car for different terrains, and achieve the optimal mining efficiency. The specific methods are as follows: change the width of the track of the scaled-down mining car, the shape, length, and width of the track teeth, and the spacing between each track tooth; change the traction force of the scaled-down mining car; Change the terrain; change the water jet pressure, the layout of the water jet orifices, and the water jet collection method; Repeated tests were conducted to analyze the impact of the scaled-down ore collection vehicle's traction force and track parameters on mining efficiency under different terrain conditions, and the optimal track design parameters for ore collection vehicles under different terrain conditions were summarized.
2. The test method for the walking performance of a tracked mining truck based on intelligent seabed topography as described in claim 1, characterized in that, Deep-sea seabed soil and rock samples were collected through in-situ drilling, and their mineral composition and particle size distribution were analyzed. In-situ tests were then conducted to determine their basic physical and mechanical properties. The specific methods are as follows: Deep-sea sampling technology was used to collect samples from deep-sea seabed soil and rock samples through in-situ drilling. The samples were transported to the laboratory with insulation and moisture retention. Mineral composition was analyzed using SEM and XRD, and particle size distribution was determined through sieve analysis. In-situ tests were then used to analyze the seabed soil samples to obtain the porosity. e Soil bulk density ρ b Soil relative density D r Particle specific gravity d s Elastic modulus E Poisson's ratio m ,tensile strength s t internal friction angle j Cohesion c The basic physical and mechanical parameters serve as the basis for preparing similar materials for seabed soil samples.
3. The test method for the walking performance of a tracked mining truck based on intelligent seabed topography as described in claim 1, characterized in that, Based on the properties of soil samples obtained from in-situ borehole cores and the mechanical parameters determined by in-situ tests, a similar material for the seabed soil sample used in the laboratory simulation test was prepared. The specific method is as follows: Based on the properties of soil samples obtained from in-situ borehole cores and the mechanical parameters determined by in-situ tests: void ratio e Soil bulk density ρ b Soil relative density D r Particle specific gravity d s Elastic modulus E Poisson's ratio m ,tensile strength s t internal friction angle j Cohesion c Prepare similar materials for the seabed soil samples used in laboratory simulation experiments. The similar materials are a combination of bentonite, manganese nodule ore, silt, fine sand, clay, mica powder, iron powder, gypsum, lime, resin, and kaolin, with the following ratio: bentonite: manganese nodule ore: silt: fine sand: clay: mica powder: iron powder: gypsum: lime: resin: kaolin = 1:0.1:0.05:0.01:0.01:0.04:0.02:0.02:0.01:0.01:0.01; After the materials are prepared and allowed to settle for a period of time, the mechanical parameters of the seabed soil sample similar material are measured and compared with the mechanical parameters obtained from in-situ core drilling. The mechanical parameters of the seabed soil sample similar material must conform to the set ratio of similar materials with the mechanical parameters of the soil sample obtained from in-situ core drilling. By adjusting the ratio of similar materials, simulated sediments with different physical and mechanical properties are prepared. Increasing the ratio of gypsum and lime can increase the strength of the similar material; increasing the ratio of clay, resin, and kaolin can increase the viscosity of the similar material; increasing the ratio of silt and fine sand can loosen the soil and reduce the viscosity of the similar material, thereby simulating seabed surface sediments at different sea areas and depths.
4. The test method for the walking performance of a tracked mining truck based on intelligent seabed topography as described in claim 1, characterized in that, Based on seabed topographic scanning data or according to a self-designed experimental simulated terrain, an intelligent robot-controlled intelligent laying robotic arm and an intelligent carving robotic arm are used for additive laying and subtractive cutting. Additive laying is used to automatically spread seabed soil samples similar to the material, while subtractive cutting is used to cut and process special hard rock terrain. The specific method is as follows: Based on seabed topographic scanning data or according to a self-designed experimental simulated terrain, an intelligent robot-controlled intelligent laying robotic arm and an intelligent carving robotic arm are used for additive laying and subtractive cutting. When laying flat, sloping, or wavy seabed soil layers formed by homogeneous rock and soil materials, the intelligent laying robotic arm automatically spreads seabed soil samples similar to the material. Materials; The top of the intelligent paving robot arm is a self-removing sleeve, which comes in three sizes: coarse, medium, and fine, allowing for control of the amount and size of similar materials discharged as needed; When paving isolated rock formations or raised hard rock peaks, an intelligent carving robot arm is used to cut and process the special hard rock terrain; The intelligent paving robot arm, intelligent carving robot arm, rotating disk I, rotating disk II, rotating knob I, similar material inlet, rotating knob II, disassembling sleeve, and carving head are characterized by rotating disk I, rotating disk II, rotating knob I, and rotating knob II at corresponding angles as needed; the similar material inlet is inserted into a similar material delivery pipe to provide similar materials to the intelligent paving robot arm.
5. The test method for the walking performance of a tracked mining truck based on intelligent seabed topography as described in claim 1, characterized in that, A seabed soil sample similar material was placed in the model test chamber and water was added to simulate seawater. A scaled-down ore collection car was placed on the seabed soil sample similar material at the bottom of the model test chamber and started to drive to simulate the actual seabed manganese nodule mining process. The specific method is as follows: A seabed soil sample similar material was placed in the model test chamber and water was added to simulate seawater. After standing for a period of time, the scaled-down ore collection car was placed on the seabed soil sample similar material at the bottom of the model test chamber and started to drive from side A to side B of the model test chamber to simulate the actual seabed manganese nodule mining process. In all simulated terrains, the water level in the model test chamber is 3m high, and the lowest point of the similar material from the seabed soil sample is 1m high; the slopes are 15°, 30°, and 45°.