A device and method for self-rescuing a submarine ore collecting vehicle in all directions

Abstract

The present invention discloses an all-directional self-rescue device and method for a submarine ore collecting vehicle, including a grouting system and an escaping device; the escaping device includes a steering system, a telescopic rod, a hydraulic rod, a hydraulic control system, a support plate and a shear plate, the support plate is evenly provided with circular holes and has distance sensors at four corners, the steering system controls the escaping device to rotate above the flat terrain, the hydraulic control system controls the longitudinal hydraulic rod to support the support plate on the seabed surface, and the shear plate is inserted into the seabed; the shear plate is squeezed by controlling the transverse hydraulic rod to generate relative displacement and drag the vehicle body; the grouting system includes a grouting pump, a grouting pipe, a plurality of grouting holes and a grouting pipeline. The method and device can realize the all-directional self-rescue of the ore collecting vehicle after the ore collecting vehicle sinks under the poor bottom during deep-sea mining, and ensure the continuous operation of mining work.

Description

Technical Field

[0001] The present invention relates to deep-sea mining operation equipment and technology, and in particular to a deep-sea mining vehicle self-rescue device and technology. Background Art

[0002] With the rapid development of modern society, the demand for rare minerals (nickel, cobalt, manganese, etc.) in high-tech and new energy industries has increased dramatically. Traditional shallow terrestrial mineral resources are often exhausted due to continuous large-scale mining, and deep mining of metal mines faces huge challenges. Therefore, mineral mining has gradually focused on deep-sea mining. Most of the earth is ocean, and the deep seabed is rich in high-quality mineral resources, which is an important direction to solve the problem of global mineral resource scarcity. At present, in the commonly used deep-sea mining system, crawler mining vehicles are a key subsystem, and their normal operation plays an important role in the safety and efficiency of mining. The shear strength of the soft seabed soil is low (0~6 kPa), the water content is extremely high, and the bearing capacity is poor. In addition, the soft seabed surface soil has the characteristics of disturbance fluidization and is highly sensitive to disturbance. Due to walking and mining, the bearing capacity of the soft bottom soil around the vehicle body is greatly reduced. The mining vehicle is prone to sinking and slipping during walking. Once the vehicle sinks and slips and cannot get out of trouble by itself, the mining system will be paralyzed, which will affect the normal progress of mining work and cause huge losses. The following problems still need to be solved regarding the existing patents for the escape of mining vehicles:

[0003] 1. Most of the existing rescue devices use shear force to shear the soft soil on the seabed surface. Insufficient consideration is given to whether the bearing capacity of the original soft soil on the seabed meets the rescue requirements. The rescue may fail due to insufficient shear strength of the soft soil on the seabed.

[0004] 2. Since the soft soil on the seabed surface has the characteristics of disturbance fluidization and is extremely sensitive to disturbance, the operation of the rescue device may cause secondary sinking, and the rescue direction is single, and the appropriate direction cannot be selected for rescue, which further reduces the success rate of rescue;

[0005] 3. Most of the existing methods for escaping submarine ore collection vehicles only consider the situation of successful escaping, but do not consider how to perform secondary escaping when the escaping method fails;

[0006] 4. Grouting, as a special foundation treatment method, has the advantages of low cost, high efficiency, simple operation and strong applicability. Applying the grouting reinforcement method to the process of ore collecting vehicles getting out of trouble can effectively improve the mechanical properties of the soft seabed and greatly improve the success rate of the escape process. The existing patents for ore collecting vehicles getting out of trouble do not make sufficient use of the grouting method.

[0007] 5. The characteristics and occurrence conditions of seabed mineral resources vary. They are mainly found in the seabed plains at a depth of 4000-6000 m. Moreover, the deep-sea plains are not completely flat, and there are depressions and pits. This limits the application conditions of the rescue device. Therefore, a rescue device is needed that can select suitable terrain as a rescue support. Summary of the invention

[0008] A device and method for omnidirectional self-rescue of a submarine ore collecting vehicle, the device comprising a grouting system and an escape device, the grouting system comprising a grouting pump, a grouting pipe, a plurality of grouting holes and a grouting pipeline, the grouting holes are distributed on both sides of a shear plate of the escape device, the grouting pipeline is buried inside the shear plate of the escape device, and the grouting pipeline is located inside a support plate; the self-rescue device comprises a steering system, a telescopic rod, a hydraulic rod, a hydraulic control system, a support plate and a shear plate, the support plate is evenly provided with circular holes, the hydraulic control system controls the longitudinal hydraulic rod to support the support plate on the seabed surface, transmits force through the telescopic rod to lift the ore collecting vehicle, and the shear plate is inserted into the seabed, and controls the transverse hydraulic rod to squeeze the soil, thereby causing the vehicle body to move, ultimately achieving the purpose of self-rescue and escape, and ensuring normal use.

[0009] Specifically, the steering control system can control the telescopic rod to rotate in all directions.

[0010] Specifically, the length of the shear plate is equal to the length of the support plate, the minimum length of the shear plate is 40 cm, the thickness of the shear plate is 5-7 cm, the thickness of the support plate is 10-12 cm, the number of shear plates is 6-8 and they are equidistantly installed on the support plate.

[0011] Specifically, the width of the support plate is greater than or equal to the width of the vehicle body, a grouting pipe is provided inside the support plate and a grouting channel is provided inside the shear plate, and a plurality of grouting holes are provided on both sides of the shear plate.

[0012] Specifically, the support plate has a through hole with a diameter of 3-7 cm, so as to prevent the water flow from disturbing the lower soil and causing subsidence when the soil below the support plate is drained when the support plate is supported above the soil.

[0013] Specifically, four distance sensors are arranged at the four corners of the bottom of the support plate. When the difference between the maximum and minimum readings of the four sensors is less than 8 cm, the terrain is considered to be flat.

[0014] Specifically, the connection between the hydraulic rod and the telescopic rod is covered with a pressure-resistant and waterproof insulating shell to prevent malfunctions caused by seabed fine sand entering the mechanical structure to create gaps and seawater erosion.

[0015] Specifically, the hydraulic rod includes a longitudinal hydraulic rod and a transverse hydraulic rod. The longitudinal hydraulic rod includes a vertical hydraulic rod; the transverse hydraulic rod includes a horizontal hydraulic rod and two inclined hydraulic rods. The three transverse hydraulic rods form an angle of 60° with each other.

[0016] Specifically, the slurry is a two-component acrylic grouting material selected as AB type slurry, the A type slurry is polyacrylic acid salt resin and a catalyst (TE 300), and the B type slurry is water and a stress absorbing agent (AP 200).

[0017] Specifically, the all-directional self-rescue device for the submerged ore collecting vehicle is installed at the rear of the ore collecting vehicle.

[0018] The present invention also discloses a method for using the above-mentioned all-directional self-rescue device for escaping from a submerged ore collecting vehicle, which is characterized by comprising the following steps:

[0019] Step 1: When the ore collecting vehicle sinks or slips, the sinking depth and direction are determined by the vehicle's own sensor positioning system. After the data is determined, the escape device is controlled to rotate through the steering system, and the distance sensors at the four corners of the bottom of the support plate are used to measure. The direction of the relatively flat seabed is selected as the escape direction of the ore collecting vehicle, and the telescopic rod is extended to move the device above the seabed;

[0020] Step 2: After the direction is determined, the longitudinal hydraulic rod is controlled to move downward by the hydraulic control system, and the hydraulic rod stops moving in the vertical direction. At this time, the shear plate at the bottom of the support plate is completely inserted into the seabed;

[0021] Step 3: When the support plate moves in the vertical direction, it squeezes the lower soil, and the lower soil generates a reaction force perpendicular to the surface of the support plate. The reaction force can be transmitted to the vehicle body through the telescopic rod, thereby reducing the pressure of the vehicle body on the soil, lifting the vehicle body, and reducing the sinking depth of the vehicle body.

[0022] Step 4: After the shear plate is completely inserted into the seabed, the hydraulic control system controls the horizontal hydraulic rod and the oblique hydraulic rod to retract, and the force generated by the hydraulic rod is transmitted to the vehicle body through the telescopic rod, so that the vehicle body moves toward the flat terrain;

[0023] Step 5: If the soil strength in the subsidence area is weak, the force generated by the support plate and the shear plate is not enough to move the vehicle body. At this time, the longitudinal hydraulic rod is reset to the shortest state and the transverse hydraulic rod is reset to the longest state through the hydraulic control system.

[0024] Step 6: After the reset is completed, repeat step 2, and then start the grouting pump of the grouting system to inject the slurry into the seabed through the grouting pipe in the shear plate by pressure. After the slurry solidifies, repeat steps 3 and 4;

[0025] Step 7: If the vehicle body is freed, the longitudinal hydraulic rod can be controlled by the hydraulic control system to lift the support plate and the shear plate above the seabed surface, and the vehicle body can continue mining;

[0026] Step 8. If the vehicle still cannot be freed after moving, repeat steps 1 to 5 until the vehicle is freed and can operate normally.

[0027] Beneficial effects of the invention:

[0028] 1. The present invention fully considers the differences in topography in deep-sea mining areas. Through the steering control system in the device and the four distance sensors at the bottom of the support plate, the telescopic rod can be controlled to move to the terrain suitable for the operation of the rescue device to perform the rescue work. It can achieve all-directional rescue when the mining truck sinks, avoiding the limitation of the application of the rescue device due to low-lying and pit-sunken terrain, making the application scenario of the device wider and with fewer restrictions;

[0029] 2. The present invention divides self-rescue into two steps. First, the vehicle body is propped up by a support plate to reduce the resistance caused by sinking in the subsequent process of vehicle body escape. After the vehicle body is supported, the hydraulic rod is contracted to make the vehicle body move relative to the shear plate, so that the shear plate shears the soil to generate force, which is transmitted to the vehicle body through the telescopic rod, so that the vehicle body moves and self-rescue is achieved. The distributed escape method proposed in the present invention can simplify the complex, reduce the complexity of escaping the mining truck, and improve the success rate of escape;

[0030] 3. When the ore collecting vehicle is mining, the tail of the ore collecting vehicle sinks more when it is walking on the soft bottom of the seabed. This device is installed at the tail, which can lift the tail of the vehicle body and reduce the disturbance to the soft bottom soil of the seabed when getting out of trouble;

[0031] 4. The present invention combines grouting to reinforce the soil with the ore collecting vehicle to escape and rescue, which can effectively solve the problems of low shear strength of the deep-sea soft bottom, high loss of strength due to disturbance, low bearing capacity, etc., avoid the failure of escape due to insufficient strength of the soft bottom soil on the seabed, and ensure the smooth progress of escape and rescue;

[0032] 5. Since the seabed soil is thin and soft, it is easy to inject slurry. The grouting pipeline in the grouting system of the device of the present invention is located in the shear plate of the rescue device, and the grouting port is located on the surface of the shear plate, which combines rescue and grouting into one, simplifies the complexity of the device, and can be repeatedly grouted and recycled;

[0033] 6. This device takes into account the possibility of failure of the escape method. When the escape method fails, the escape direction can be re-determined by rotating the control system and a second escape can be performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1The present invention is a schematic diagram of the overall structure of an all-directional self-rescue device for a submerged ore collecting vehicle after installation.

[0035] Figure 2 The present invention is a schematic diagram of the shear plate structure of a self-rescue device for escaping from an all-directional situation when a submerged ore collecting vehicle is sunk.

[0036] Figure 3 The present invention is a schematic diagram of the bottom surface of a support plate of a self-rescue device for escaping from an all-directional situation when a submerged ore collecting vehicle is sunk.

[0037] Figure 4 The present invention is a schematic diagram of the structure of the slurry delivery system of a self-rescue device for escaping from a sinking submarine ore collecting vehicle in all directions.

[0038] Figure 5 The present invention is a schematic diagram of the structure of an all-directional self-rescue device for a submerged ore collecting vehicle.

[0039] Figure 6 This is a schematic diagram of the device not being used when the mine car is operating normally.

[0040] Figure 7 The present invention is a schematic diagram of the unfolded structure of an all-directional self-rescue device for a submerged ore collecting vehicle.

[0041] Figure 8 This is a schematic diagram of the device operating to rescue the mine car when it is sinking.

[0042] Fig. 9 Schematic diagram of grouting to free a mine car when it sinks.

[0043] In the figure: 1. vehicle body; 2. steering controller; 3. telescopic rod; 4. horizontal hydraulic rod; 5. inclined hydraulic rod; 6. drainage hole; 7. vertical hydraulic rod; 8. protective shell; 9. grouting pipe; 10. shear plate; 11. support plate; 12. grouting hole; 13. grouting pump; 14 slurry delivery system pipeline; 15 A-type slurry tank; 16 B-type slurry tank; 17 slurry delivery hole; 18 grouting hole; 19 buried channel; 20 distance sensor. Implementation

[0044] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0045] The present invention is described below with reference to the accompanying drawings and specific embodiments:

[0046] Figure 1 A schematic diagram of the overall structure of an all-directional self-rescue device for a submerged ore collecting vehicle after installation is shown, wherein the self-rescue device comprises a steering gear 2, a telescopic rod 3, a horizontal hydraulic rod 4, an inclined hydraulic rod 5, a vertical hydraulic rod 6, a shear plate 10 and a support plate 11; the steering controller 2 can control the telescopic rod 3 to rotate in all directions, the hydraulic rod comprises a longitudinal hydraulic rod and a transverse hydraulic rod, the longitudinal hydraulic rod comprises a section of vertical hydraulic rod 7; the transverse hydraulic rod comprises a section of horizontal hydraulic rod 4, and two sections of inclined hydraulic rod 5, and the three sections of transverse hydraulic rods form an angle of 60° with each other.

[0047] Specifically, the length of the shear plate is 100 cm, the thickness of the shear plate is 5 cm, the thickness of the support plate is 10 cm, the number of the shear plates is 7 and they are equidistantly installed on the support plate.

[0048] Specifically, the width of the support plate is equal to the width of the vehicle body.

[0049] Specifically, Figure 2 As shown, the grouting pipe 9 is buried in the buried channel 19 inside the shear plate 10 and the support plate 11 of the escape device.

[0050] Specifically, Figure 3 As shown, distance sensors 20 are provided at the four corners of the bottom of the support plate.

[0051] like Figure 4 As shown, the grouting system has two grouting pumps 13 and a grouting system pipeline 14. The grouting pumps are symmetrically located on the left and right sides. The grouting pumps 13 respectively transport the slurry in the type A slurry box 15 and the type B slurry box 16 on both sides. The slurry delivery hole 17 is connected to the grouting hole 18, and then the slurry is mixed and transported into the shear plate for grouting.

[0052] Specifically, the slurry is a two-component acrylic grouting material as AB type slurry, the A type slurry is polyacrylic acid salt resin and a catalyst (TE 300), and the B type slurry is water and a stress absorbing agent (AP 200).

[0053] Specifically, Figure 5 As shown, the hydraulic rod in the escape device can be extended or shortened. Figure 5 a and Figure 5 b corresponds to the shortest and longest states of the hydraulic rod respectively.

[0054] Specifically, Figure 5 As shown, the inner diameter of the longitudinal hydraulic rod and telescopic rod cylinder is 50 cm, the piston rod is 25 cm, and the inner diameter of the transverse hydraulic rod cylinder is 40 cm, and the piston rod is 25 cm.

[0055] Specific as Figure 5 As shown, the grouting system is located above the support plate 11 in the escape device, and a protective shell 8 is provided on the outside.

[0056] When the ore collecting truck sinks and slips, the hydraulic control system controls the vertical hydraulic rod 7 to extend the vertical hydraulic rod 7. At this time, the support plate 11 is supported on the seabed surface, and the shear plate 10 is fully inserted into the seabed. The support plate squeezes the seabed surface to form an upward thrust, which is transmitted to the ore collecting truck through the telescopic rod 3, so that the ore collecting truck is lifted, reducing the resistance caused by sinking during the subsequent vehicle body escape process; by controlling the horizontal hydraulic rod 4 and the inclined hydraulic rod 5 to shorten, the vehicle body has a movement tendency relative to the shear plate 10, and the shear plate 10 shears the soil to generate force, which is transmitted to the vehicle body through the telescopic rod 3, so that the vehicle body moves.

[0057] Specifically, the connection between the hydraulic rod and the telescopic rod is covered with a pressure-resistant and waterproof insulating shell to prevent malfunctions caused by seabed fine sand entering the mechanical structure to create gaps and seawater erosion.

[0058] Specifically, the all-directional self-rescue device for the submerged ore collecting vehicle is installed at the rear of the ore collecting vehicle. Specific embodiments

[0059] like Figure 6 As shown, when the ore collecting vehicle is operating normally, the all-directional self-rescue device for the submerged ore collecting vehicle is lifted up by the telescopic rod, and all the hydraulic rods are retracted, and the device is lifted to the rear of the vehicle body and fixed, so as to avoid the installation of the device affecting the normal progress of mining work.

[0060] When sinking occurs, the rear end of the vehicle body sinks even more and tilts up, the vehicle body cannot move, and the ore collecting vehicle cannot work.

[0061] When the ore collecting vehicle sinks or slips, the sinking depth and direction are determined by the vehicle's own sensor positioning system. After the data is determined, when the difference between the maximum and minimum readings of the four distance sensors at the bottom of the support plate is less than 8 cm, the seabed surface at that location is considered flat, and the direction of the flat seabed is selected as the direction in which the ore collecting vehicle can escape. The escape device is controlled by the steering system to rotate to the escape direction and the telescopic rod is extended to move the device above the seabed.

[0062] After the direction is determined, the hydraulic control system controls the longitudinal hydraulic rod to move downward, and the hydraulic rod stops moving in the vertical direction. At this time, the shear plate at the bottom of the support plate is completely inserted into the seabed. The support plate squeezes the lower soil during the vertical movement, and the lower soil generates a reaction force perpendicular to the support plate surface. The reaction force can be transmitted to the vehicle body through the telescopic rod, reducing the pressure of the vehicle body on the soil, lifting the vehicle body, reducing the sinking depth of the vehicle body, and reducing the resistance caused by the sinking of the vehicle body when escaping from the predicament. Figure 7 shown.

[0063] After the shear plate is fully inserted into the seabed, the hydraulic control system controls the horizontal hydraulic rod and the inclined hydraulic rod to retract, and the vehicle body generates a movement tendency relative to the shear plate. The shear plate shears the soil to generate force, which is transmitted to the vehicle body through the telescopic rod, causing the vehicle body to move toward the flat terrain. The vehicle body is freed and the mining vehicle continues to carry out mining work. Figure 8 shown. Specific embodiments

[0064] For example, when the ore collecting truck sinks or slips, the sinking depth and direction are determined by the vehicle's own sensor positioning system. After the data is determined, when the difference between the maximum and minimum readings of the four distance sensors at the bottom of the support plate is less than 8 cm, the seabed surface at that location is considered flat, and the direction of the flat seabed is selected as the direction in which the ore collecting truck can escape. The steering system is used to control the escape device to rotate in the escape direction and extend the telescopic rod to move the device above the seabed.

[0065] After the direction is determined, the hydraulic control system controls the longitudinal hydraulic rod to move downward, and the hydraulic rod in the vertical direction stops moving. At this time, the shear plate at the bottom of the support plate is completely inserted into the seabed. The support plate squeezes the lower soil during the vertical movement, and the lower soil generates a reaction force perpendicular to the surface of the support plate. The reaction force can be transmitted to the vehicle body through the telescopic rod. The hydraulic control system controls the horizontal hydraulic rod and the inclined hydraulic rod to contract, and the vehicle body generates a movement trend relative to the shear plate. The shear plate shears the soil and generates force, which is transmitted to the vehicle body through the telescopic rod. However, the soil strength in the subsidence area is weak, and the force generated by the support plate and the shear plate is not enough to move the vehicle body. The soil around the shear plate is damaged, and the mining truck still cannot move. At this time, the hydraulic control system is used to reset the longitudinal hydraulic rod to the shortest state and the transverse hydraulic rod to the longest state. After the reset is completed, The hydraulic control system controls the longitudinal hydraulic rod to move downward, and the vertical hydraulic rod stops moving. At this time, the shear plate at the bottom of the support plate is completely inserted into the seabed; then the grouting system starts the grouting pump, and injects the slurry into the seabed through the grouting pipe in the shear plate by pressure. After the slurry solidifies, the vertical support rod is extended to make the vehicle body tilt up to prevent subsequent resistance to escape due to sinking. The hydraulic control system controls the horizontal hydraulic rod and the inclined hydraulic rod to contract, and the vehicle body has a movement trend relative to the shear plate. The shear plate shears the soil to generate force, which is transmitted to the vehicle body through the telescopic rod to make the vehicle body move toward the flat terrain. At this time, the vehicle body has completed the escape and the mining truck continues to mine. Fig. 9 The figure shows a schematic diagram of grouting to escape from subsidence.

[0066] The ore collecting vehicle of the present invention has a vehicle-wide sensor positioning system for locating and determining whether the ore collecting vehicle has difficulty in moving or sinking, performing data processing and issuing instructions to the control hydraulic device and the grouting system. This is an auxiliary system required for the implementation of the invention and is prior art, which will not be described in detail here.

[0067] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A method for using an all-directional self-rescue device for a submarine ore collecting vehicle, characterized in that: The omnidirectional self-rescue device for the submarine mining vehicle comprises an escaping device and a grouting system, wherein the escaping device comprises a steering controller, a telescopic rod, a hydraulic rod, a hydraulic control system, a shear plate and a support plate; the steering controller can control the telescopic rod to rotate in all directions, the hydraulic rod comprises a longitudinal hydraulic rod and a transverse hydraulic rod, the longitudinal hydraulic rod comprises a section of vertical hydraulic rod; the transverse hydraulic rod has three sections, including a section of horizontal hydraulic rod and two sections of inclined hydraulic rod; the three sections of transverse hydraulic rods form an angle of 60° with each other; the hydraulic control system can control the longitudinal hydraulic rod to support the support plate on the seabed surface, the shear plate is inserted into the seabed, and can control the transverse hydraulic rod to make the shear plate squeeze the soil; the four corners at the bottom of the support plate are respectively installed with distance sensors; The grouting system is located above the support plate in the escape device, and includes a grouting pump, a grouting system pipeline, a grouting pipeline, a plurality of grouting holes, a slurry box, a grouting hole, a grouting hole and an external protective shell; there are two grouting pumps; the grouting pipeline is located inside the support plate and the shear plate; the plurality of grouting holes are distributed on both sides of the shear plate in the escape device; there are two slurry boxes, namely, a type A slurry box and a type B slurry box, and the grouting pumps transport the slurry in the type A slurry box and the type B slurry box respectively, and the slurry delivery hole is connected to the grouting hole, and the slurry is mixed and transported and poured into the shear plate for grouting; The method of use comprises the following steps: Step 1: When the ore collecting vehicle sinks or slips, the sinking depth and direction are determined by the vehicle's own sensor positioning system. After the data is determined, the escape device is controlled by the steering controller and rotated. The distance sensor is used to measure and select the direction of the relatively flat seabed as the escape direction of the ore collecting vehicle. The telescopic rod is extended to move the escape device above the seabed. Step 2: After the direction is determined, the longitudinal hydraulic rod is controlled to move downward by the hydraulic control system, and when the longitudinal hydraulic rod stops moving, the shear plate at the bottom of the support plate is completely inserted into the seabed; Step 3: When the support plate moves in the vertical direction, it squeezes the lower soil, and the lower soil generates a reaction force perpendicular to the surface of the support plate. The reaction force can be transmitted to the vehicle body through the telescopic rod, thereby reducing the pressure of the vehicle body on the soil and reducing the sinking depth of the vehicle body. Step 4: After the shear plate is completely inserted into the seabed, the hydraulic control system controls the horizontal hydraulic rod and the oblique hydraulic rod to retract, and the force generated by the hydraulic rod is transmitted to the vehicle body through the telescopic rod, so that the vehicle body moves toward the flat terrain; Step 5: If the soil strength in the subsidence area is weak, the force generated by the support plate and the shear plate is insufficient to move the vehicle body. At this time, the longitudinal hydraulic rod is first reset to the shortest state and the transverse hydraulic rod is reset to the longest state through the hydraulic control system; Step 6: After the reset is completed, repeat step 2, and then start the grouting pump of the grouting system to inject the slurry into the seabed through the grouting pipe in the shear plate by pressure. After the slurry solidifies, repeat steps 3 and 4; Step 7: If the vehicle body is freed, the longitudinal hydraulic rod can be controlled by the hydraulic control system to lift the support plate and the shear plate above the seabed surface, and the vehicle body can continue mining; Step 8. If the vehicle still cannot be freed after moving, repeat steps 1 to 5 until the vehicle is freed and can operate normally.

2. According to the method for using the omnidirectional self-rescue device for seabed ore collecting vehicles according to claim 1, when the difference between the maximum and minimum readings of the four distance sensors is less than 8 cm, the seabed is considered to be flat.

3. According to the method for using the omnidirectional self-rescue device for seabed ore collecting vehicles as described in claim 1, the length of the shear plate is equal to the length of the support plate, the minimum length of the shear plate is 100 cm, the thickness of the shear plate is 5-7 cm, the thickness of the support plate is 10-12 cm, the number of shear plates is 6-8 and they are equidistantly installed on the support plate.

4. According to the method for using the all-directional self-rescue device for seabed ore collecting vehicles of claim 1, the support plate has a through hole with a diameter of 3-7 cm, so as to prevent the water flow from disturbing the lower soil and causing subsidence when the soil below the support plate is drained when the support plate is supported above the soil.

5. According to the method for using the all-directional self-rescue device for submarine ore collecting vehicles as described in claim 1, the outside of all hydraulic rods and telescopic rod connections are covered with a pressure-resistant and waterproof insulating shell to avoid malfunctions caused by seabed fine sand entering the gaps in the mechanical structure and seawater erosion.

6. According to the method for using the all-directional self-rescue device for submarine ore collecting vehicles as described in claim 1, the slurry selects a two-component acrylate grouting material as AB type slurry, the A type slurry is a polyacrylate resin and a catalyst, and the B type slurry is water and a stress activator.

7. According to the method for using the all-directional self-rescue device for an undersea ore collecting vehicle as described in claim 1, the device is installed at the rear of the ore collecting vehicle, and the horizontal hydraulic rod and the inclined hydraulic rod work synchronously to prevent the device from failing due to a single hydraulic rod failure.

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